Questions tagged [localization]

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3answers
56 views

Phase difference measurement of a signal sampled with two different sampling frequencies

I am working on phase interferometry for locating a transmitter. The direction of arrival of an incident wave can be estimated from the phase difference caused by the antenna separation as shown ...
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0answers
17 views

GCC-PHAT for Multiple Sound Sources

Can GCC-PHAT be used to detect multiple time-delays (that is, having multiple acoustic sources simultaneously)? The documentation for the gccphat(sig,refsig) ...
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0answers
13 views

Particle filter localization with different types of measures

I want to implement a localization system using particle filter or other bayesian filter. I have a motion model based on odometry and different types of sensors for measurement. During the navigation, ...
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0answers
8 views

Estimate the environment shape by traveled distance and angle

Consider a robot that randomly moves in a closed environment. Every time it encounters an obstacle, it performs a rotation and proceeds in the new direction. It can measure the angle (with a compass) ...
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1answer
41 views

Cone of Confusion

In sound perception, humans adapt by tilting the head or relying on other location cues such as visual input when the source of the sound lies on the cone of confusion. On this cone, no time and level ...
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1answer
112 views

Range Estimation Based on Distance Differences

It is a range estimation problem, as shown in the figure. The blue circles are the anchor node' positions, which are produced by one moving anchor (the moving direction is shown with black arrow). ...
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0answers
14 views

Calculating the Channel state information for localization

I want to build a localization system using 4G LTE for a project. Intuitively, I can get the position measuring the time a signal leaves the Base Station to the User Equipment. Knowing that these ...
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1answer
58 views

Cramér-Rao lower bound

I have been trying to implement the Cramér-Rao lower bound from the paper - A reference-free time difference of arrival source localization using a passive sensor array (eq. 6 and eq. 7). $$ \...
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1answer
852 views

Sound Source Location

I have four microphones which I want to use to locate the direction of an audio source. Is there any Python module that implements an algorithm that, given the recordings of the four microphones, will ...
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1answer
44 views

What are the most robust implementations of passive/self-localization assuming high noise and reverberation?

I am doing research on a related subject that requires the use of TDOA estimation of two signals in an environment with a great deal of noise and reverberation. If anyone had any expertise on (or ...
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0answers
102 views

Subtracting audio signal emitted - trying to use spectral subtraction to localize moving objects

I am a Software Engineer without much signal processing background and currently spending and experimenting to get use to it. My scenario: Assume a speaker and a microphone array. A speaker emits an ...
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2answers
303 views

DOA - 1D Music Algorithm

I am currently working on a MUSIC algorithm for DOA of RF emitters in 3D. At the first stage, interested to apply the 1D MUSIC using a linear array of 4 antennas, and estimate only the azimuth of the ...
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0answers
135 views

Multilateration of Sound in 3D Space

TL:DR - How can you find the 3D coordinates of a emitter than transmits an impulse signal? STORY: I'm working on something to improve my bird-watching. I've got a camera that can take pictures of ...
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1answer
165 views

sound source localization - finding source vector

This may sound a stupid question - but I am working on some simple microphone array beamforming sound source localization stuff. I think I understand how to use beamforming to find the TOA of the ...
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1answer
122 views

Line based Extended Kalman Filter for localization : Measurement Jacobian

I have to estimate location w.r.t a given map of the environment. The state is expressed as $ X = \begin{bmatrix} x \\ y \\ \theta \end{bmatrix}$ Given , $ X_{t-1} = \begin{bmatrix} x_{t-1} \\ y_{...
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1answer
966 views

Delay-and-sum beamforming: implementing steering in C

I am currently trying to understand how delay-and-sum beamforming works. I have found this website which explains the process of this technique very well in which the following C code is provided: <...
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1answer
241 views

Audio localization accuracy with two microphones

I am attempting to find the location of sound using two microphones, using cross-correlation methods. I am not getting very consistent and accurate results, there are instances where there seem to be ...
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2answers
448 views

Understanding the constraint on distance between microphones in microphone array for Direction of Arrival estimation

The distance between microphones in a two-microphone array for direction of arrival estimation, should be at least less than half of the wavelength of the signal that is being detected by the ...
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0answers
222 views

How to convert magnetometer readings into orientation?

I have a magnetometer sensor, obtaining the reading with $50$Hz rate. Unfortunately, the data is not labeled: I just know that these are $x$,$y$,$z$ axes, and that the reading are in $\mu$T (micro ...
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0answers
115 views

Object localization down to the pixel

I am somewhat confused on the terminology used in Computer Vision. Suppose I wanted to detect (localize) an object (say, a human) in an image. However, a box around the human is not sufficient, what I ...
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1answer
571 views

Cross-Correlation Signal Delay Estimation Variance

I am working on a project which intends to use Time Difference of Arrival (TDoA) for localization. Firstly, my understanding is that a matched filter is the most common method for estimating signal-...