The Un-Kidnappable Robot: Acoustic Localization of Sneaking People

arXiv:2310.03743v2 Announce Type: replace-cross
Abstract: How easy is it to sneak up on a robot? We examine whether we can detect people using only the incidental sounds they produce as they move, even when they try to be quiet. We collect a robotic dataset of high-quality 4-channel audio paired with 360 degree RGB data of people moving in different indoor settings. We train models that predict if there is a moving person nearby and their location using only audio. We …

arxiv cs.lg cs.ro localization people robot type