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. 2022 May 11:9:854444.
doi: 10.3389/frobt.2022.854444. eCollection 2022.

ODAS: Open embeddeD Audition System

François Grondin  1 , Dominic Létourneau  1 , Cédric Godin  1 , Jean-Samuel Lauzon  1 , Jonathan Vincent  1 , Simon Michaud  1 , Samuel Faucher  1 , François Michaud  1
Affiliations

ODAS: Open embeddeD Audition System

François Grondin et al. Front Robot AI. .

Abstract

Artificial audition aims at providing hearing capabilities to machines, computers and robots. Existing frameworks in robot audition offer interesting sound source localization, tracking and separation performance, although involve a significant amount of computations that limit their use on robots with embedded computing capabilities. This paper presents ODAS, the Open embeddeD Audition System framework, which includes strategies to reduce the computational load and perform robot audition tasks on low-cost embedded computing systems. It presents key features of ODAS, along with cases illustrating its uses in different robots and artificial audition applications.

Keywords: embedded computing; microphone array; open source framework; robot audition; sound source localization.

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Conflict of interest statement

The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest.

Figures

FIGURE 1
FIGURE 1
ODAS processing pipeline.
FIGURE 2
FIGURE 2
ODAS Studio Web Interface. Colored dots represent potential DOA with power levels, and solid lines illustrate the tracked sound source trajectories over time.
FIGURE 3
FIGURE 3
ODAS strategy exploiting microphone directivity to compute GCC-PHAT using relevant pairs of microphones in a closed array configuration.
FIGURE 4
FIGURE 4
Illustration of the two unit sphere search, first with coarse resolution (A), and then more precise search with finer resolution (B).
FIGURE 5
FIGURE 5
Tracking sound sources with Kalman filters: each DOA is associated to a previously tracked source, a false detection or a new source.
FIGURE 6
FIGURE 6
ODAS subarray SSS strategy to optimize processing.
FIGURE 7
FIGURE 7
Azimut-3 (open array configuration, 16 microphones).
FIGURE 8
FIGURE 8
Azimut-3 (closed array configuration, 16 microphones).
FIGURE 9
FIGURE 9
SecurBot (16-microphone configuration on top and sides).
FIGURE 10
FIGURE 10
Beam (8-microphone on a circular support).
See this image and copyright information in PMC

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