{"id":"https://openalex.org/W2218753925","doi":"https://doi.org/10.1109/iros.2015.7354253","title":"Time difference of arrival estimation based on binary frequency mask for sound source localization on mobile robots","display_name":"Time difference of arrival estimation based on binary frequency mask for sound source localization on mobile robots","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2218753925","doi":"https://doi.org/10.1109/iros.2015.7354253","mag":"2218753925"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045901453","display_name":"Fran\u00e7ois Grondin","orcid":"https://orcid.org/0000-0002-0563-4251"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Francois Grondin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171860","display_name":"Fran\u00e7ois Michaud","orcid":"https://orcid.org/0000-0002-3639-7770"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Francois Michaud","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5045901453"],"corresponding_institution_ids":["https://openalex.org/I135117807"],"apc_list":null,"apc_paid":null,"fwci":2.8717,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.91720599,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6149","last_page":"6154"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11447","display_name":"Blind Source Separation Techniques","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multilateration","display_name":"Multilateration","score":0.9730260372161865},{"id":"https://openalex.org/keywords/acoustic-source-localization","display_name":"Acoustic source localization","score":0.7578902244567871},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.709079921245575},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.673000693321228},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6528760194778442},{"id":"https://openalex.org/keywords/direction-of-arrival","display_name":"Direction of arrival","score":0.5532544851303101},{"id":"https://openalex.org/keywords/broadband","display_name":"Broadband","score":0.5355422496795654},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5230218768119812},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5010249614715576},{"id":"https://openalex.org/keywords/noise-measurement","display_name":"Noise measurement","score":0.4433874189853668},{"id":"https://openalex.org/keywords/speech-recognition","display_name":"Speech recognition","score":0.43768996000289917},{"id":"https://openalex.org/keywords/cross-correlation","display_name":"Cross-correlation","score":0.4145856499671936},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.40703392028808594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35964125394821167},{"id":"https://openalex.org/keywords/sound","display_name":"Sound (geography)","score":0.30588725209236145},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16856110095977783},{"id":"https://openalex.org/keywords/noise-reduction","display_name":"Noise reduction","score":0.16010871529579163},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.15379488468170166},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08801856637001038},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0808822512626648}],"concepts":[{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.9730260372161865},{"id":"https://openalex.org/C93240960","wikidata":"https://www.wikidata.org/wiki/Q217270","display_name":"Acoustic source localization","level":3,"score":0.7578902244567871},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.709079921245575},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.673000693321228},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6528760194778442},{"id":"https://openalex.org/C172051844","wikidata":"https://www.wikidata.org/wiki/Q5280438","display_name":"Direction of arrival","level":3,"score":0.5532544851303101},{"id":"https://openalex.org/C509933004","wikidata":"https://www.wikidata.org/wiki/Q194163","display_name":"Broadband","level":2,"score":0.5355422496795654},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5230218768119812},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5010249614715576},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.4433874189853668},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.43768996000289917},{"id":"https://openalex.org/C163018871","wikidata":"https://www.wikidata.org/wiki/Q1302587","display_name":"Cross-correlation","level":2,"score":0.4145856499671936},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.40703392028808594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35964125394821167},{"id":"https://openalex.org/C203718221","wikidata":"https://www.wikidata.org/wiki/Q491713","display_name":"Sound (geography)","level":2,"score":0.30588725209236145},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16856110095977783},{"id":"https://openalex.org/C163294075","wikidata":"https://www.wikidata.org/wiki/Q581861","display_name":"Noise reduction","level":2,"score":0.16010871529579163},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.15379488468170166},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08801856637001038},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0808822512626648},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7354253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W182689536","https://openalex.org/W2015068436","https://openalex.org/W2031358052","https://openalex.org/W2063521662","https://openalex.org/W2081753968","https://openalex.org/W2085464278","https://openalex.org/W2093010905","https://openalex.org/W2104422351","https://openalex.org/W2110034964","https://openalex.org/W2113638573","https://openalex.org/W2117678320","https://openalex.org/W2121973264","https://openalex.org/W2129566906","https://openalex.org/W2130642871","https://openalex.org/W2146643998","https://openalex.org/W2151227854","https://openalex.org/W2169147844","https://openalex.org/W6679429894"],"related_works":["https://openalex.org/W4386900535","https://openalex.org/W2288274698","https://openalex.org/W4385361701","https://openalex.org/W4391643140","https://openalex.org/W2068968550","https://openalex.org/W3001418501","https://openalex.org/W2770231486","https://openalex.org/W2187684650","https://openalex.org/W2159296145","https://openalex.org/W2350404734"],"abstract_inverted_index":{"Localization":[0],"of":[1,43,47,88],"sound":[2,16],"sources":[3],"in":[4,11],"adverse":[5],"environments":[6],"is":[7,18,31],"an":[8],"important":[9],"challenge":[10],"robot":[12,73],"audition.":[13],"The":[14],"target":[15,36,49],"source":[17,50],"often":[19,32],"corrupted":[20],"by":[21],"coherent":[22],"broadband":[23],"noise,":[24,52],"which":[25],"introduces":[26],"localization":[27],"ambiguities":[28],"as":[29,34],"noise":[30],"mistaken":[33],"the":[35,40,48,76,85,90],"source.":[37],"To":[38],"discriminate":[39],"time":[41],"difference":[42],"arrival":[44],"(TDOA)":[45],"parameters":[46],"and":[51,68],"this":[53],"paper":[54],"presents":[55],"a":[56,71],"binary":[57],"mask":[58],"for":[59],"weighted":[60],"generalized":[61],"cross-correlation":[62],"with":[63],"phase":[64],"transform":[65],"(GCC-PHAT).":[66],"Simulation":[67],"experiments":[69],"on":[70],"mobile":[72],"suggest":[74],"that":[75],"proposed":[77],"technique":[78],"improves":[79],"TDOA":[80],"discrimination.":[81],"It":[82],"also":[83],"brings":[84],"additional":[86],"benefit":[87],"modulating":[89],"computing":[91],"load":[92],"requirement":[93],"according":[94],"to":[95],"voice":[96],"activity.":[97]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}