An Audio-Based SLAM for Indoor Environments: A Robotic Mixed Reality Presentation

In this paper, we present a novel approach referred to as the audio-based virtual landmark-based HoloSLAM. This innovative method leverages a single sound source and microphone arrays to estimate the voice-printed speaker's direction. The system allows an autonomous robot equipped with a single microphone array to navigate within indoor environments, interact with specific sound sources, and simultaneously determine its own location while mapping the environment. The proposed method does not require multiple audio sources in the environment nor sensor fusion to extract pertinent information and make accurate sound source estimations. Furthermore, the approach incorporates Robotic Mixed Reality using Microsoft HoloLens to superimpose landmarks, effectively mitigating the audio landmark-related issues of conventional audio-based landmark SLAM, particularly in situations where audio landmarks cannot be discerned, are limited in number, or are completely missing. The paper also evaluates an active speaker detection method, demonstrating its ability to achieve high accuracy in scenarios where audio data are the sole input. Real-time experiments validate the effectiveness of this method, emphasizing its precision and comprehensive mapping capabilities. The results of these experiments showcase the accuracy and efficiency of the proposed system, surpassing the constraints associated with traditional audio-based SLAM techniques, ultimately leading to a more detailed and precise mapping of the robot's surroundings.