{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/42203"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/42203","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Room reconstruction and navigation using acoustically obtained room impulse responses and a mobile robot platform","abstract":"This work explores the design and effectiveness of a robot that uses a combination of active sonar and a pseudo-random acoustic signal to navigate and reconstruct an unknown environment. The robot sends the pseudo-random signal into the environment and records the resulting response. This response is processed to gain information on the robot's immediate surroundings. Previous work done in this area focused on the recording and processing aspect to determine the location of a sound source or multiple sound sources. We apply similar algorithms to localize what are known as virtual sound sources. Virtual sound sources are created when sound from a sound source reflects off of a surface, such as a wall or object, and are recorded by a receiver. The recorded reflected sound is commonly known as an echo. A virtual sound source is placed at the location where the sound incident to the receiver would have originated from had no reflection taken place. By placing the real sound source and receivers on the same platform, if we can accurately localize the generated virtual sound sources, we can compute the path the sound wave took and localize the surfaces off of which the sound wave reflected. We remember these surface locations to generate a map for the robot to use when navigating through the unknown environment. Finally, we present a method to improve the accuracy of the baseline virtual sound source localization algorithm by using quadratic interpolation.","abstract_html":"This work explores the design and effectiveness of a robot that uses a combination of active sonar and a pseudo-random acoustic signal to navigate and reconstruct an unknown environment. The robot sends the pseudo-random signal into the environment and records the resulting response. This response is processed to gain information on the robot's immediate surroundings. Previous work done in this area focused on the recording and processing aspect to determine the location of a sound source or multiple sound sources. We apply similar algorithms to localize what are known as virtual sound sources. Virtual sound sources are created when sound from a sound source reflects off of a surface, such as a wall or object, and are recorded by a receiver. The recorded reflected sound is commonly known as an echo. A virtual sound source is placed at the location where the sound incident to the receiver would have originated from had no reflection taken place. By placing the real sound source and receivers on the same platform, if we can accurately localize the generated virtual sound sources, we can compute the path the sound wave took and localize the surfaces off of which the sound wave reflected. We remember these surface locations to generate a map for the robot to use when navigating through the unknown environment. Finally, we present a method to improve the accuracy of the baseline virtual sound source localization algorithm by using quadratic interpolation.","abstract_has_math":false,"creators":["Co, Christopher"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Hasegawa-Johnson, Mark A."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-02-03T19:27:48Z","date_published":"2013-02-03T19:27:48Z","updated_at":"2026-07-22T22:25:33Z","subjects":["Room Impulse Response","Quadratic Interpolation","Room Reconstruction","Maximum Length Sequence","Sonar","Robot Mapping","Robot Navigation"],"languages":["en"],"rights":["Copyright 2012 Christopher Co"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/42203","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Hasegawa-Johnson, Mark A."]},{"key":"dc:creator","label":"Author","values":["Co, Christopher"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2013-02-03T19:27:48Z","2012-12"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Room Impulse Response","Quadratic Interpolation","Room Reconstruction","Maximum Length Sequence","Sonar","Robot Mapping","Robot Navigation"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2012 Christopher Co"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/42203"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This work explores the design and effectiveness of a robot that uses a combination of active sonar and a pseudo-random acoustic signal to navigate and reconstruct an unknown environment. 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By placing the real sound source and receivers on the same platform, if we can accurately localize the generated virtual sound sources, we can compute the path the sound wave took and localize the surfaces off of which the sound wave reflected. We remember these surface locations to generate a map for the robot to use when navigating through the unknown environment. Finally, we present a method to improve the accuracy of the baseline virtual sound source localization algorithm by using quadratic interpolation.","Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2012-11-29T21:20:56Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 3 thesis.tgz: 23703598 bytes, checksum: dfc4d0df247086a436ee8c2bb45886b7 (MD5) Code.tgz: 18205014 bytes, checksum: c85ae543f03eb861633a226bbd44b583 (MD5) Co_Christopher.pdf: 524875 bytes, checksum: 97e50115f028b0f571c2893303778e45 (MD5)","Made available in DSpace on 2013-02-03T19:27:48Z (GMT). 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We remember these surface locations to generate a map for the robot to use when navigating through the unknown environment. Finally, we present a method to improve the accuracy of the baseline virtual sound source localization algorithm by using quadratic interpolation.","Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2012-11-29T21:20:56Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 3 thesis.tgz: 23703598 bytes, checksum: dfc4d0df247086a436ee8c2bb45886b7 (MD5) Code.tgz: 18205014 bytes, checksum: c85ae543f03eb861633a226bbd44b583 (MD5) Co_Christopher.pdf: 524875 bytes, checksum: 97e50115f028b0f571c2893303778e45 (MD5)","Made available in DSpace on 2013-02-03T19:27:48Z (GMT). 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