Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization

Yuanzheng He1; Jiang Wang1; Daobilige Su2; Kazuhiro Nakadai3; Junfeng Wu4; Shoudong Huang5; Youfu Li6; He Kong1

10.1109/SII55687.2023.10039204

2023-02-15

2023 IEEE/SICE International Symposium on System Integration (SII)

2474-2317

979-8-3503-9869-4

2023 IEEE/SICE International Symposium on System Integration (SII)

1-8

17-20 Jan. 2023

Atlanta, GA, USA

Multiple microphone arrays have many applications in robot audition, including sound source localization, audio scene perception and analysis, etc. However, accurate calibration of multiple microphone arrays remains a challenge because there are many unknown parameters to be identified, including the Euler angles, geometry, asynchronous factors between the microphone arrays. This paper is concerned with joint calibration of multiple microphone arrays and sound source localization using graph simultaneous localization and mapping (SLAM). By using a Fisher information matrix (FIM) approach, we focus on the observability analysis of the graph SLAM framework for the above-mentioned calibration problem. We thoroughly investigate the identifiability of the unknown parameters, including the Euler angles, geometry, asynchronous effects between the microphone arrays, and the sound source locations. We establish necessary/sufficient conditions under which the FIM and the Jacobian matrix have full column rank, which implies the identifiability of the unknown parameters. These conditions are closely related to the variation in the motion of the sound source and the configuration of microphone arrays, and have intuitive and physical interpretations. We also discover several scenarios where the unknown parameters are not uniquely identifiable. All theoretical findings are demonstrated using simulation data.

Location Awareness Jacobian Matrices Geometry Simultaneous Localization And Mapping System Integration Position Measurement Microphone Arrays

第一 ; 通讯

CPCI-S ; EI

WOS:000972217000062

20231013660493

Acoustic Generators ; Audio Acoustics ; Calibration ; Fisher Information Matrix ; Jacobian Matrices ; Observability ; Robotics

Control Systems:731.1 ; Robotics:731.5 ; Acoustic Waves:751.1 ; Acoustic Devices:752.1 ; Acoustic Generators:752.4 ; Algebra:921.1 ; Statistical Methods:922

IEEE

1.Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China
2.College of Engineering, China Agricultural University, Beijing, China
3.Department of Systems and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan
4.School of Data Science, The Chinese University of Hong Kong, Shenzhen, Shenzhen, P. R. China
5.Robotics Institute, University of Technology Sydney, Sydney, Australia
6.Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China

Yuanzheng He,Jiang Wang,Daobilige Su,et al. Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization[C],2023:1-8.