Described herein are systems, methods, and non-transitory computer readable media for determining a direction of movement of an authority vehicle in relation to another vehicle such as an autonomous vehicle and initiating or ceasing a vehicle response measure that may have previously been initiated based on the determined direction of movement. A signal source associated with the authority vehicle emits a periodic acoustic signal that is received at one or more audio capture devices, which may be provided at various locations on an exterior of a vehicle. One or more signal characteristics of the acoustic signal can be determined such as frequency, sound intensity, and/or phase. Detected signal characteristic(s) of the acoustic signal can be analyzed, and in some cases, compared against known information such as an expected frequency of the acoustic signal to determine the direction of movement of the authority vehicle in relation to the vehicle.

Provided are a detection method for a sound source and a detection device therefor, which are capable of accurately detecting the position of a sound source through use of measurement results of sound intensities. In the detection method, I.sub.all=(I.sub.x.sup.2+I.sub.y.sup.2+I.sub.z.sup.2), which is a total value of the sound intensities I.sub.x, I.sub.y, and I.sub.z in three axial directions (x-, y-, and z-axis directions) orthogonal to each other at a sound receiving point (P) in a sound field, is calculated, and then the position of the sound source is estimated after extracting the sound source by performing processing with averaged values within a predetermined peak width instead of the magnitude of a peak in a sound intensity waveform of the total value, or the position of the sound source is estimated after extracting the sound source with attention being given to a spatial travel speed of a sound intensity or a sound particle velocity of the total value.

A method and apparatus to determine a direction of arrival (DOA) of a talker in the presence of a source of spatially-coherent noise. A time sequence of audio samples that include the spatially-coherent noise is received and buffered. Aided by previously known data, a trigger point is detected in the time sequence of audio samples when the talker begins to talk. The buffered time sequence of audio samples is separated into a noise segment and a signal-plus-noise segment based on the trigger point. For each direction of a plurality of distinct directions: an energy difference is computed for the direction between the noise segment and the signal-plus-noise segment, and the DOA of the talker is selected as the direction of the plurality of distinct directions having a largest of the computed energy differences.

A three-dimensional (3D) measurement system and method is provided. The system includes a noncontact measurement device, an annotation member and a processor. The noncontact measurement device being operable to measure a distance from the noncontact measurement device to a surface. The annotation member is coupled to the noncontact measurement device. The processor is operably coupled to the noncontact measurement device and the annotation member, the processor operable to execute computer instructions when executed on the processor for determining 3D coordinates of at least one point in a field of view based at least in part on the distance, recording an annotation in response to an input from a user, and associating the annotation with the at least one point.

Computing devices and methods utilizing a joint speaker location/speaker identification neural network are provided. In one example a computing device receives an audio signal of utterances spoken by multiple persons. Magnitude and phase information features are extracted from the signal and inputted into a joint speaker location and speaker identification neural network. The neural network utilizes both the magnitude and phase information features to determine a change in the person speaking. Output comprising the determination of the change is received from the neural network. The output is then used to perform a speaker recognition function, speaker location function, or both.

A method and apparatus to determine a direction of arrival (DOA) of a talker in the presence of a source of spatially-coherent noise. A time sequence of audio samples that include the spatially-coherent noise is received and buffered. Aided by previously known data, a trigger point is detected in the time sequence of audio samples when the talker begins to talk. The buffered time sequence of audio samples is separated into a noise segment and a signal-plus-noise segment based on the trigger point. For each direction of a plurality of distinct directions: an energy difference is computed for the direction between the noise segment and the signal-plus-noise segment, and the DOA of the talker is selected as the direction of the plurality of distinct directions having a largest of the computed energy differences.

Systems and methods are provided for sensing acoustic signals using a floating base vector sensor. A vector sensor according to an embodiment of the present disclosure can be used to detect and characterize low frequency sound wave(s) in a viscous medium (e.g., air, water, etc.) by detecting a periodic motion of the media particles associated with the sound wave(s). The orientation of the particle velocity deduced from such measurements can provide information regarding the wave vector of the sound wave(s), can define the direction of arrival (DOA) for the acoustic signal, and can assist locating the source of the sound of interest.

Provided are a detection method for a sound source and a detection device therefor, which are capable of accurately detecting the position of a sound source through use of measurement results of sound intensities. In the detection method, I.sub.all=(I.sub.x.sup.2+I.sub.y.sup.2+I.sub.z.sup.2), which is a total value of the sound intensities I.sub.x, I.sub.y, and I.sub.z in three axial directions (x-, y-, and z-axis directions) orthogonal to each other at a sound receiving point (P) in a sound field, is calculated, and then the position of the sound source is estimated after extracting the sound source by performing processing with averaged values within a predetermined peak width instead of the magnitude of a peak in a sound intensity waveform of the total value, or the position of the sound source is estimated after extracting the sound source with attention being given to a spatial travel speed of a sound intensity or a sound particle velocity of the total value.

A device for determining a sound source direction determines a direction in which a source of a reached sound exists, based on at least one of a sound pressure difference between a first sound pressure that is a sound pressure of a first frequency component of a first part of the reached sound acquired by a first microphone and a second sound pressure that is a sound pressure of the first frequency component of a second part of the reached sound acquired by a second microphone, and a phase difference between a first phase that is a phase of a second frequency component of the first part of the reached sound and a second phase that is a phase of the second frequency component of the second part of the reached sound.

Computing devices and methods utilizing a joint speaker location/speaker identification neural network are provided. In one example a computing device receives a multi-channel audio signal of an utterance spoken by a user. Magnitude and phase information features are extracted from the signal and inputted into a joint speaker location/speaker identification neural network that is trained via utterances from a plurality of persons. A user embedding comprising speaker identification characteristics and location characteristics is received from the neural network and compared to a plurality of enrollment embeddings extracted from the plurality of utterances that are each associated with an identity of a corresponding person. Based at least on the comparisons, the user is matched to an identity of one of the persons, and the identity of the person is outputted.