Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones

Bowon Lee; Kar Han Tan

doi:10.4108/ICST.IMMERSCOM2009.6235

Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones

Bowon Lee, Kar Han Tan

Hewlett-Packard

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

We propose an algorithm for multimodal object localization with a depth sensor and stereo microphones. For this we formulate a joint probability distribution of object locations conditioned upon depth and acoustic observations. Then we use the maximum a posteriori estimation for object localization. For multimodal fusion, we map likelihood of acoustic observation given time difference of arrival information to that given object location in a three dimensional space. Our method offers a principled way to fuse information from microphones and depth sensors, and experimentally we find that it reliably locates the object without requiring careful calibration of the sensors.

Original language	English
Title of host publication	IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications
Publisher	Association for Computing Machinery, Inc
ISBN (Electronic)	9789639799394
DOIs	https://doi.org/10.4108/ICST.IMMERSCOM2009.6235
State	Published - 2009
Externally published	Yes
Event	2nd International Conference on Immersive Telecommunications, IMMERSCOM 2009 - Berkeley, United States Duration: 27 May 2009 → 29 May 2009

Publication series

Name	IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications

Conference

Conference	2nd International Conference on Immersive Telecommunications, IMMERSCOM 2009
Country/Territory	United States
City	Berkeley
Period	27/05/09 → 29/05/09

Bibliographical note

Publisher Copyright:
© 2009 ACM. All Rights Reserved.

Access to Document

10.4108/ICST.IMMERSCOM2009.6235

Cite this

Lee, B., & Tan, K. H. (2009). Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones. In IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications Article 14 (IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications). Association for Computing Machinery, Inc. https://doi.org/10.4108/ICST.IMMERSCOM2009.6235

Lee, Bowon ; Tan, Kar Han. / Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones. IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications. Association for Computing Machinery, Inc, 2009. (IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications).

@inproceedings{2c557d30c15142bfa6cac458975f5b0a,

title = "Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones",

abstract = "We propose an algorithm for multimodal object localization with a depth sensor and stereo microphones. For this we formulate a joint probability distribution of object locations conditioned upon depth and acoustic observations. Then we use the maximum a posteriori estimation for object localization. For multimodal fusion, we map likelihood of acoustic observation given time difference of arrival information to that given object location in a three dimensional space. Our method offers a principled way to fuse information from microphones and depth sensors, and experimentally we find that it reliably locates the object without requiring careful calibration of the sensors.",

author = "Bowon Lee and Tan, {Kar Han}",

note = "Publisher Copyright: {\textcopyright} 2009 ACM. All Rights Reserved.; 2nd International Conference on Immersive Telecommunications, IMMERSCOM 2009 ; Conference date: 27-05-2009 Through 29-05-2009",

year = "2009",

doi = "10.4108/ICST.IMMERSCOM2009.6235",

language = "English",

series = "IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications",

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Lee, B & Tan, KH 2009, Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones. in IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications., 14, IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications, Association for Computing Machinery, Inc, 2nd International Conference on Immersive Telecommunications, IMMERSCOM 2009, Berkeley, United States, 27/05/09. https://doi.org/10.4108/ICST.IMMERSCOM2009.6235

Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones. / Lee, Bowon; Tan, Kar Han.
IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications. Association for Computing Machinery, Inc, 2009. 14 (IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - We propose an algorithm for multimodal object localization with a depth sensor and stereo microphones. For this we formulate a joint probability distribution of object locations conditioned upon depth and acoustic observations. Then we use the maximum a posteriori estimation for object localization. For multimodal fusion, we map likelihood of acoustic observation given time difference of arrival information to that given object location in a three dimensional space. Our method offers a principled way to fuse information from microphones and depth sensors, and experimentally we find that it reliably locates the object without requiring careful calibration of the sensors.

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Lee B, Tan KH. Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones. In IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications. Association for Computing Machinery, Inc. 2009. 14. (IMMERSCOM 2009 - Proceedings of the 2nd International Conference on Immersive Telecommunications). doi: 10.4108/ICST.IMMERSCOM2009.6235

Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones

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