Creation of radiated sound intensity maps using multi-modal measurements onboard an autonomous mobile platform

This paper presents a method for mapping the radiated sound intensity of an environment using an autonomous mobile platform. The sound intensities radiated by the objects are estimated by combining the sound intensity at the platform´s position (estimated with a steered response power algorithm) and the distances to the objects (estimated using laser range finders). By combining the estimated sound intensity at the platform´s position with the platform´s pose obtained from a particle filter based localization algorithm, the sound intensity radiated from the objects is registered in the cells of a grid map covering the environment. This procedure creates a map of the radiated sound intensity that contains information about the sound directivity. To illustrate the effectiveness of the proposed method, a map of radiated sound intensity is created for a test environment. Then the position and the directivity of the sound sources in the test environment are estimated from this map.