SLAM-Based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization

This is an open-source project aimed at calibrating the extrinsic and intrinsic parameters of multi-microphone arrays.

USAGE

python Multi_Mic_Arrays_Calibration.py

Calibration process

Nonlinear optimization process

Real world Datasets(not essential)

The dataset records video and IMU information (stereo cameras + IMU) during the movement of the mobile robot, as well as sound audio captured by four microphone arrays.

Download dataset to YOUR_DATASET_FOLDER and decompress it. Then, move the ROS_data to ./tools/1_visual_processing/ROS_data and move audio to ./tools/2_audio_processing/audio.

Finally, use the script in the tools folder to process the data set to obtain the corresponding measurements.

License

The source code and dataset are released under GPLv3 license.

Acknowledgements

We use vins fusion for visual-inertial odometry and speechbrain for DOA estimation.

Citation

Please, cite the paper if you use the microphone arrays calibration codes or data for your research.

@misc{2023observability,
  title={Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization},
  author={He, Yuanzheng and Wang, Jiang and Su, Daobilige and Nakadai, Kazuhiro and Wu, Junfeng and Huang, Shoudong and Li, Youfu and Kong, He},
  booktitle={2023 IEEE/SICE International Symposium on System Integration (SII)},
  pages={1--8},
  year={2023},
  organization={IEEE}
}
@article{2024calibration,
  title={SLAM-based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization},
  author={Wang, Jiang and He, Yuanzheng and Su, Daobilige and Itoyama, Katsutoshi and Nakadai, Kazuhiro and Wu, Junfeng and Huang, Shoudong and Li, Youfu and Kong, He},
  journal={IEEE Transactions on Robotics},
  year={2024},
  publisher={IEEE}
}