SLAM-Based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization

Jiang Wang1; Yuanzheng He1; Daobilige Su2; Katsutoshi Itoyama3; Kazuhiro Nakadai3; Junfeng Wu4; Shoudong Huang5; Youfu Li6; He Kong1

2024

10.1109/TRO.2024.3410456

IEEE Transactions on Robotics   影响因子和分区

1941-0468

Robot audition systems with multiple microphone arrays have many applications in practice. However, accurate calibration of multiple microphone arrays remains challenging because there are many unknown parameters to be identified, including the relative transforms (i.e., orientation, translation) and asynchronous factors (i.e., initial time offset and sampling clock difference) between microphone arrays. To tackle these challenges, in this paper, we adopt batch simultaneous localization and mapping (SLAM) for joint calibration of multiple asynchronous microphone arrays and sound source localization. Using the Fisher information matrix (FIM) approach, we first conduct the observability analysis (i.e., parameter identifiability) of the above-mentioned calibration problem and establish necessary/sufficient conditions under which the FIM and the Jacobian matrix have full column rank, which implies the identifiability of the unknown parameters. We also discover several scenarios where the unknown parameters are not uniquely identifiable. Subsequently, we propose an effective framework to initialize the unknown parameters, which is used as the initial guess in batch SLAM for multiple microphone arrays calibration, aiming to further enhance optimization accuracy and convergence. Extensive numerical simulations and real experiments have been conducted to verify the performance of the proposed method. The experiment results show that the proposed pipeline achieves higher accuracy with fast convergence in comparison to methods that use the noise-corrupted ground truth of the unknown parameters as the initial guess in the optimization and other existing frameworks.

EI

第一

1.Shenzhen Key Laboratory of Control Theory and Intelligent Systems, Southern University of Science and Technology, No. 1088 Xueyuan Avenue, 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, China
5.Robotics Institute, University of Technology Sydney, Sydney, Australia
6.Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China

Jiang Wang,Yuanzheng He,Daobilige Su,et al. SLAM-Based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization[J]. IEEE Transactions on Robotics,2024,PP(99).

Jiang Wang.,Yuanzheng He.,Daobilige Su.,Katsutoshi Itoyama.,Kazuhiro Nakadai.,...&He Kong.(2024).SLAM-Based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization.IEEE Transactions on Robotics,PP(99).

Jiang Wang,et al."SLAM-Based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization".IEEE Transactions on Robotics PP.99(2024).