{"id":"https://openalex.org/W4416749246","doi":"https://doi.org/10.1109/iros60139.2025.11246992","title":"Single-Microphone-Based Sound Source Localization for Mobile Robots in Reverberant Environments","display_name":"Single-Microphone-Based Sound Source Localization for Mobile Robots in Reverberant Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749246","doi":"https://doi.org/10.1109/iros60139.2025.11246992"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100351624","display_name":"Jiang Wang","orcid":"https://orcid.org/0000-0003-0180-7351"},"institutions":[{"id":"https://openalex.org/I4210116810","display_name":"RIKEN Center for Biosystems Dynamics Research","ror":"https://ror.org/023rffy11","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652","https://openalex.org/I4210116810"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jiang Wang","raw_affiliation_strings":["RIKEN BDR,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RIKEN BDR,Japan","institution_ids":["https://openalex.org/I4210116810"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Runwu Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116810","display_name":"RIKEN Center for Biosystems Dynamics Research","ror":"https://ror.org/023rffy11","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652","https://openalex.org/I4210116810"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Runwu Shi","raw_affiliation_strings":["RIKEN BDR,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RIKEN BDR,Japan","institution_ids":["https://openalex.org/I4210116810"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042063575","display_name":"Benjamin Yen","orcid":"https://orcid.org/0000-0002-6958-7319"},"institutions":[{"id":"https://openalex.org/I4210116810","display_name":"RIKEN Center for Biosystems Dynamics Research","ror":"https://ror.org/023rffy11","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652","https://openalex.org/I4210116810"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Benjamin Yen","raw_affiliation_strings":["RIKEN BDR,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RIKEN BDR,Japan","institution_ids":["https://openalex.org/I4210116810"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032411105","display_name":"He Kong","orcid":"https://orcid.org/0000-0002-1382-4186"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Kong","raw_affiliation_strings":["Southern University of Science and Technology,School of Automation and Intelligent Manufacturing,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,School of Automation and Intelligent Manufacturing,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041970584","display_name":"Kazuhiro Nakadai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210118579","display_name":"Systems Biology Institute","ror":"https://ror.org/02c7akf81","country_code":"JP","type":"nonprofit","lineage":["https://openalex.org/I4210118579"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Nakadai","raw_affiliation_strings":["Institute of Science Tokyo,Department of Systems and Control Engineering,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,Department of Systems and Control Engineering,Japan","institution_ids":["https://openalex.org/I4210118579"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.064,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.82610014,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6135","last_page":"6140"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9840999841690063,"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":0.9840999841690063,"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":0.002300000051036477,"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/T11349","display_name":"Music Technology and Sound Studies","score":0.0019000000320374966,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/acoustic-source-localization","display_name":"Acoustic source localization","score":0.7504000067710876},{"id":"https://openalex.org/keywords/microphone","display_name":"Microphone","score":0.6212000250816345},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5967000126838684},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5282999873161316},{"id":"https://openalex.org/keywords/microphone-array","display_name":"Microphone array","score":0.49639999866485596},{"id":"https://openalex.org/keywords/sound-localization","display_name":"Sound localization","score":0.4122999906539917},{"id":"https://openalex.org/keywords/source-code","display_name":"Source code","score":0.4011000096797943},{"id":"https://openalex.org/keywords/noise-canceling-microphone","display_name":"Noise-canceling microphone","score":0.3959999978542328}],"concepts":[{"id":"https://openalex.org/C93240960","wikidata":"https://www.wikidata.org/wiki/Q217270","display_name":"Acoustic source localization","level":3,"score":0.7504000067710876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.651199996471405},{"id":"https://openalex.org/C2778263558","wikidata":"https://www.wikidata.org/wiki/Q46384","display_name":"Microphone","level":3,"score":0.6212000250816345},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5967000126838684},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5282999873161316},{"id":"https://openalex.org/C2778806681","wikidata":"https://www.wikidata.org/wiki/Q907293","display_name":"Microphone array","level":4,"score":0.49639999866485596},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.42399999499320984},{"id":"https://openalex.org/C68236139","wikidata":"https://www.wikidata.org/wiki/Q765652","display_name":"Sound localization","level":2,"score":0.4122999906539917},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.4011000096797943},{"id":"https://openalex.org/C36922181","wikidata":"https://www.wikidata.org/wiki/Q7047650","display_name":"Noise-canceling microphone","level":5,"score":0.3959999978542328},{"id":"https://openalex.org/C203718221","wikidata":"https://www.wikidata.org/wiki/Q491713","display_name":"Sound (geography)","level":2,"score":0.3950999975204468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.373199999332428},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.3718000054359436},{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.34380000829696655},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.33980000019073486},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.33340001106262207},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.3124000132083893},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3025999963283539},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.28600001335144043},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.2754000127315521},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.26330000162124634}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1560213421","https://openalex.org/W2073919751","https://openalex.org/W2078808627","https://openalex.org/W2087799238","https://openalex.org/W2116101591","https://openalex.org/W2166914407","https://openalex.org/W2411093439","https://openalex.org/W2742299865","https://openalex.org/W3158799039","https://openalex.org/W3197097128","https://openalex.org/W3212225065","https://openalex.org/W3217061668","https://openalex.org/W4223980049","https://openalex.org/W4296070366","https://openalex.org/W4372271367","https://openalex.org/W4393241166","https://openalex.org/W4399415395","https://openalex.org/W4401246805","https://openalex.org/W4401610848","https://openalex.org/W4405520859","https://openalex.org/W4405786133","https://openalex.org/W4405787580","https://openalex.org/W4408354828","https://openalex.org/W4411550727","https://openalex.org/W4415432939"],"related_works":[],"abstract_inverted_index":{"Accurately":[0],"estimating":[1],"sound":[2,12,49,104,121],"source":[3,13,50,105,122],"positions":[4],"is":[5,114],"crucial":[6],"for":[7],"robot":[8,36,62],"audition.":[9],"However,":[10],"existing":[11],"localization":[14,51,123],"methods":[15],"typically":[16],"rely":[17],"on":[18,59,128],"a":[19,55,60,69,125,129,132],"microphone":[20,57,127],"array":[21],"with":[22,74],"at":[23,163],"least":[24],"two":[25],"spatially":[26],"preconfigured":[27],"microphones.":[28],"This":[29],"requirement":[30],"hinders":[31],"the":[32,108,115,145,154],"applicability":[33],"of":[34,110,149],"microphone-based":[35],"audition":[37],"systems":[38],"and":[39,147],"technologies.":[40],"To":[41,107,152],"alleviate":[42],"these":[43],"challenges,":[44],"we":[45,67,135,158],"propose":[46],"an":[47,97],"online":[48,103,120],"method":[52],"that":[53,134],"uses":[54],"single":[56,126],"mounted":[58],"mobile":[61],"in":[63,139],"reverberant":[64,88],"environments.":[65],"Specifically,":[66],"develop":[68],"lightweight":[70],"neural":[71],"network":[72],"model":[73],"only":[75],"43k":[76],"parameters":[77],"to":[78,101,118,137],"perform":[79],"real-time":[80],"distance":[81],"estimation":[82],"by":[83],"extracting":[84],"temporal":[85],"information":[86],"from":[87],"signals.":[89],"The":[90],"estimated":[91],"distances":[92],"are":[93],"then":[94],"processed":[95],"using":[96,124],"extended":[98],"Kalman":[99],"filter":[100],"achieve":[102,119],"localization.":[106],"best":[109],"our":[111,150,161],"knowledge,":[112],"this":[113,140],"first":[116],"work":[117],"moving":[130],"robot,":[131],"gap":[133],"aim":[136],"fill":[138],"work.":[141],"Extensive":[142],"experiments":[143],"demonstrate":[144],"effectiveness":[146],"merits":[148],"approach.":[151],"benefit":[153],"broader":[155],"research":[156],"community,":[157],"have":[159],"open-sourced":[160],"code":[162],"https://github.com/JiangWAV/single-mic-SSL.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}