The Un-Kidnappable Robot: Acoustic Localization of Sneaking People
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2023
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| _version_ | 1866929338022100992 |
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| author | Yang, Mengyu Grady, Patrick Brahmbhatt, Samarth Vasudevan, Arun Balajee Kemp, Charles C. Hays, James |
| author_facet | Yang, Mengyu Grady, Patrick Brahmbhatt, Samarth Vasudevan, Arun Balajee Kemp, Charles C. Hays, James |
| contents | How easy is it to sneak up on a robot? We examine whether we can detect people using only the incidental sounds they produce as they move, even when they try to be quiet. We collect a robotic dataset of high-quality 4-channel audio paired with 360 degree RGB data of people moving in different indoor settings. We train models that predict if there is a moving person nearby and their location using only audio. We implement our method on a robot, allowing it to track a single person moving quietly with only passive audio sensing. For demonstration videos, see our project page: https://sites.google.com/view/unkidnappable-robot |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_03743 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | The Un-Kidnappable Robot: Acoustic Localization of Sneaking People Yang, Mengyu Grady, Patrick Brahmbhatt, Samarth Vasudevan, Arun Balajee Kemp, Charles C. Hays, James Robotics Machine Learning How easy is it to sneak up on a robot? We examine whether we can detect people using only the incidental sounds they produce as they move, even when they try to be quiet. We collect a robotic dataset of high-quality 4-channel audio paired with 360 degree RGB data of people moving in different indoor settings. We train models that predict if there is a moving person nearby and their location using only audio. We implement our method on a robot, allowing it to track a single person moving quietly with only passive audio sensing. For demonstration videos, see our project page: https://sites.google.com/view/unkidnappable-robot |
| title | The Un-Kidnappable Robot: Acoustic Localization of Sneaking People |
| topic | Robotics Machine Learning |
| url | https://arxiv.org/abs/2310.03743 |