{"id":"https://openalex.org/W4312495079","doi":"https://doi.org/10.1109/iros47612.2022.9982039","title":"Outdoor evaluation of sound source localization for drone groups using microphone arrays","display_name":"Outdoor evaluation of sound source localization for drone groups using microphone arrays","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312495079","doi":"https://doi.org/10.1109/iros47612.2022.9982039"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982039","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5008751771","display_name":"Taiki Yamada","orcid":"https://orcid.org/0000-0002-9004-8731"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taiki Yamada","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology,Department of Systems and Control Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology,Department of Systems and Control Engineering,Tokyo,Japan,152-8552","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003325000","display_name":"Katsutoshi Itoyama","orcid":"https://orcid.org/0000-0002-7098-3896"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]},{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Katsutoshi Itoyama","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology,Department of Systems and Control Engineering,Tokyo,Japan,152-8552","Honda Research Institute Japan Co., Ltd., Wako, Saitama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology,Department of Systems and Control Engineering,Tokyo,Japan,152-8552","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Honda Research Institute Japan Co., Ltd., Wako, Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068958993","display_name":"Kenji Nishida","orcid":"https://orcid.org/0000-0003-4214-4005"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Nishida","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology,Department of Systems and Control Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology,Department of Systems and Control Engineering,Tokyo,Japan,152-8552","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041970584","display_name":"Kazuhiro Nakadai","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Nakadai","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology,Department of Systems and Control Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology,Department of Systems and Control Engineering,Tokyo,Japan,152-8552","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5507,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.63382029,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9296","last_page":"9301"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"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/T10931","display_name":"Direction-of-Arrival Estimation Techniques","score":0.9933000206947327,"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/drone","display_name":"Drone","score":0.8526451587677002},{"id":"https://openalex.org/keywords/acoustic-source-localization","display_name":"Acoustic source localization","score":0.8143813014030457},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.7448521256446838},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6960991621017456},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6296416521072388},{"id":"https://openalex.org/keywords/microphone","display_name":"Microphone","score":0.6147488951683044},{"id":"https://openalex.org/keywords/sound","display_name":"Sound (geography)","score":0.5517628788948059},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.4589901566505432},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.45543748140335083},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45343390107154846},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42038023471832275},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1812426745891571},{"id":"https://openalex.org/keywords/sound-pressure","display_name":"Sound pressure","score":0.14241069555282593},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08827874064445496},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08169591426849365}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8526451587677002},{"id":"https://openalex.org/C93240960","wikidata":"https://www.wikidata.org/wiki/Q217270","display_name":"Acoustic source localization","level":3,"score":0.8143813014030457},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.7448521256446838},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6960991621017456},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6296416521072388},{"id":"https://openalex.org/C2778263558","wikidata":"https://www.wikidata.org/wiki/Q46384","display_name":"Microphone","level":3,"score":0.6147488951683044},{"id":"https://openalex.org/C203718221","wikidata":"https://www.wikidata.org/wiki/Q491713","display_name":"Sound (geography)","level":2,"score":0.5517628788948059},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.4589901566505432},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.45543748140335083},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45343390107154846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42038023471832275},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1812426745891571},{"id":"https://openalex.org/C68115822","wikidata":"https://www.wikidata.org/wiki/Q1068172","display_name":"Sound pressure","level":2,"score":0.14241069555282593},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08827874064445496},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08169591426849365},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982039","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1994630425","https://openalex.org/W2020934227","https://openalex.org/W2029661668","https://openalex.org/W2101856597","https://openalex.org/W2109355036","https://openalex.org/W2113638573","https://openalex.org/W2136197758","https://openalex.org/W2140141066","https://openalex.org/W2145268975","https://openalex.org/W2205838157","https://openalex.org/W2571623814","https://openalex.org/W2591710647","https://openalex.org/W2766086962","https://openalex.org/W2773497457","https://openalex.org/W2775320802","https://openalex.org/W2809543295","https://openalex.org/W2933305660","https://openalex.org/W3011183480","https://openalex.org/W3011855661"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W2098651198","https://openalex.org/W1981446207","https://openalex.org/W3008382217","https://openalex.org/W1973916163","https://openalex.org/W2773778247"],"abstract_inverted_index":{"For":[0],"robot":[1],"and":[2,15,54,118,170],"drone":[3,65,134],"auditions,":[4],"microphone":[5],"arrays":[6],"have":[7,90],"been":[8,116],"used":[9],"for":[10,25,32,156],"estimating":[11],"sound":[12,16,21,43,51,93,129,158],"source":[13,17,22,44,52,94,130,159],"directions":[14,53],"locations.":[18],"By":[19],"using":[20,62],"localization":[23,45,75,95,107],"techniques,":[24],"example,":[26],"drones":[27],"can":[28,98,126,148],"detect":[29],"people":[30],"calling":[31],"help":[33],"even":[34,131],"if":[35,132],"the":[36,74,80,88,119,139,145,166],"target":[37],"person":[38],"is":[39,122,136],"not":[40],"visible.":[41],"Most":[42],"methods":[46],"are":[47],"based":[48],"on":[49],"estimated":[50],"triangulation.":[55],"However,":[56],"when":[57],"it":[58,125],"comes":[59],"to":[60,79,138,161],"situations":[61],"drones,":[63],"severe":[64],"noise":[66,135],"distorts":[67],"direction":[68,83],"estimation":[69,154],"results":[70,76,142],"which":[71,103],"could":[72,104],"worsen":[73],"badly":[77],"due":[78],"discreteness":[81],"of":[82,153,168],"estimation.":[84],"In":[85,109],"this":[86,110],"perspective,":[87],"authors":[89],"proposed":[91,120,146],"a":[92,128,157],"method":[96,121,147],"that":[97,144],"omit":[99],"outlying":[100],"triangulation":[101,174],"points,":[102],"improve":[105],"its":[106],"performance.":[108],"paper,":[111],"an":[112],"outdoor":[113],"experiment":[114],"has":[115],"held,":[117],"evaluated":[123],"whether":[124],"localize":[127,149],"real":[133],"added":[137],"recordings.":[140],"Experiment":[141],"show":[143],"with":[150],"4.15":[151],"m":[152,163],"error":[155],"up":[160],"50":[162],"away,":[164],"suppress":[165],"impact":[167],"outliers,":[169],"use":[171],"only":[172],"plausible":[173],"points.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}