A correlation function having a clear peak is generated even in an environment in which an ambient noise level is high. A correlation function generation apparatus (100) includes a plurality of input signal obtaining units (101), a changing unit (102), a cross-spectrum calculator (103), a variance calculator (104), and a correlation function calculator (105). The input signal obtaining unit (101) obtains a wave generated by a wave source as an input signal. The transformer (102) obtains a plurality of frequency domain signals by transforming a plurality of input signals obtained by the plurality of input signal obtaining units. The cross-spectrum calculator (103) calculates a cross-spectrum based on the plurality of frequency domain signals. The variance calculator (104) calculates the variance of the cross-spectrum. The correlation function calculator (105) calculates and generates a correlation function based on the cross-spectrum and the variance.

Disclosed herein are system, apparatus, article of manufacture, method, and/or computer program product embodiments for a mobile device based control device locator. An embodiment operates by receiving a request to locate a control device, transmitting acoustic token transmission information to the control device to activate an electroacoustic transducer on the control device, receiving an acoustic signal including an acoustic token signal from the control device via a plurality of acoustic sensors, and determining distance information of the control device based on the received acoustic token signal generated by the electroacoustic transducer of the control device.

Disclosed herein are system, apparatus, article of manufacture, method, and/or computer program product embodiments for a mobile device based control device locator. An embodiment operates by receiving a request to locate a control device, transmitting acoustic token transmission information to the control device to activate an electroacoustic transducer on the control device, receiving an acoustic signal including an acoustic token signal from the control device via a plurality of acoustic sensors, and determining distance information of the control device based on the received acoustic token signal generated by the electroacoustic transducer of the control device.

A practically implementable robust direction-of-arrival (DoA) estimation approach that is resistant to localization errors due to mobility, multipath reflections, impulsive noise, and multiple-access interference. As part of the disclosed invention the inventors consider infrastructure-less 3D localization of autonomous underwater vehicles (AUVs) with no GPS assistance and no availability of global clock synchronization. The proposed method can be extended to challenging communication environments and applied for the localization of assets/objects in space, underground, intrabody, underwater and other complex, challenging, congested and sometimes contested environments. Each AUV leverages known-location beacon signals to self-localize and can simultaneously report its sensor data and measurement location. The approach uses two known location beacon nodes, where the beacons are single-hydrophone acoustic nodes that are deployed at known locations and transmit time-domain coded signals in a spread-spectrum fashion.

A practically implementable robust direction-of-arrival (DoA) estimation approach that is resistant to localization errors due to mobility, multipath reflections, impulsive noise, and multiple-access interference. As part of the disclosed invention the inventors consider infrastructure-less 3D localization of autonomous underwater vehicles (AUVs) with no GPS assistance and no availability of global clock synchronization. The proposed method can be extended to challenging communication environments and applied for the localization of assets/objects in space, underground, intrabody, underwater and other complex, challenging, congested and sometimes contested environments. Each AUV leverages known-location beacon signals to self-localize and can simultaneously report its sensor data and measurement location. The approach uses two known location beacon nodes, where the beacons are single-hydrophone acoustic nodes that are deployed at known locations and transmit time-domain coded signals in a spread-spectrum fashion.

A system includes first, second, and third microphones configured to receive sound waves from a source of the sound waves. The system includes a memory configured to store first, second, and third phase difference maps for the first and second microphones, the second and third microphones, and the third and first microphones. The system includes a processor configured to measure first, second, and third phase differences between the sound waves received from the source by the first and second microphones, the second and third microphones, and the third and first microphones; receive the first, second, and third phase difference maps from the memory; and identify a location of the source of the sound waves based on the first, second, and third phase differences and the first, second, and third phase difference maps for the first and second microphones, the second and third microphones, and the third and first microphones.

Proposed is a method for determining, by a movable robot, a position of a speaker, wherein the movable robot includes first to fourth microphones installed at four vertexes of a quadrangle of a horizontal cross section of the robot respectively, wherein the method includes: receiving a wake-up voice through first and third microphones disposed respectively at first and third vertices in a diagonal direction; obtaining a first reference value of the first microphone and a second reference value of the third microphone based on the received wake-up voice; comparing the obtained first and second reference values to select the first microphone; selecting a second microphone disposed at a second vertex, wherein the first and second microphones are on a front side of the quadrangle; calculating a sound source localization (SSL) value based on the selected first and second microphones; and tracking a position of the speaker based on the SSL value.

An ultrasonic measurement device includes an ultrasonic transceiver transmitting an ultrasonic wave and receiving a reflected wave from a target so as to output a reception signal, a scanner moving a transmission/reception position where the ultrasonic transceiver transmits and receives the ultrasonic wave along a first direction, and a position measurer measuring a position of the target. When the position measurer detects a plurality of reception signals corresponding to a plurality of reflection components caused by a difference in distances from the target at a first transmission/reception position in the first direction, the position measurer selects the reception signal based on a ratio between a voltage of the reception signals at a comparison transmission/reception position different from the first transmission/reception position and a voltage of the reception signals at the first transmission/reception position, and measures the position of the target based on the selected reception signal.

An ultrasonic measurement device includes an ultrasonic transceiver transmitting an ultrasonic wave and receiving a reflected wave from a target so as to output a reception signal, a scanner moving a transmission/reception position where the ultrasonic transceiver transmits and receives the ultrasonic wave along a first direction, and a position measurer measuring a position of the target. When the position measurer detects a plurality of reception signals corresponding to a plurality of reflection components caused by a difference in distances from the target at a first transmission/reception position in the first direction, the position measurer selects the reception signal based on a ratio between a voltage of the reception signals at a comparison transmission/reception position different from the first transmission/reception position and a voltage of the reception signals at the first transmission/reception position, and measures the position of the target based on the selected reception signal.

A vehicle driving control apparatus includes a communication interface configured to receive, from a sound sensor, a signal corresponding to sound that is generated in an external environment, and a processor configured to identify a sound object generating the sound, by obtaining a type of the sound object and either one or both of a direction of the sound object and a distance from the sound object to a vehicle including the vehicle driving control apparatus, based on the received signal, and control driving of the vehicle, based on the identified sound object.