2nd International ICST Conference on Immersive Telecommunications

Research Article

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

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  • @INPROCEEDINGS{10.4108/ICST.IMMERSCOM2009.6235,
        author={Bowon  Lee and Kar-Han Tan},
        title={Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones},
        proceedings={2nd International ICST Conference on Immersive Telecommunications},
        publisher={ICST},
        proceedings_a={IMMERSCOM},
        year={2010},
        month={5},
        keywords={},
        doi={10.4108/ICST.IMMERSCOM2009.6235}
    }
    
  • Bowon Lee
    Kar-Han Tan
    Year: 2010
    Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones
    IMMERSCOM
    ICST
    DOI: 10.4108/ICST.IMMERSCOM2009.6235
Bowon Lee1,*, Kar-Han Tan1,*
  • 1: Hewlett-Packard Laboratories, 1501 Page Mill Road, Palo Alto, CA, USA
*Contact email: bowon.lee@hp.com, kar-han.tan@hp.com

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.