Acoustic recursive Bayesian estimation for non-field-of-view targets

This paper presents acoustic recursive Bayesian estimation (RBE) for non-field-of-view (NFOV) targets. The proposed approach uses an acoustic sensor, which consists of two microphones. Given a new acoustic observation on a target, an acoustic observation likelihood is created, and the RBE updates and maintains the target belief using the acoustic observation likelihood. The proposed approach detects a target positively even if it is outside the field of view of the optical sensor and locates the target accurately by estimating it within the RBE. The effectiveness of the acoustic observation likelihood was first validated experimentally. Further experimental studies then demonstrated the applicability of the proposed RBE approach to the NFOV target estimation.