AmbiSense: Acoustic Field Based Blindspot-Free Proximity Detection and Bearing Estimation
Siddharth Rupavatharam,Xiaoran Fan,Caleb Escobedo,Daewon Lee,Larry Jackel,Richard Howard,Colin Prepscius,Daniel Lee,Volkan Isler,Siddharth Rupavatharam,Xiaoran Fan,Caleb Escobedo,Daewon Lee,Larry Jackel,Richard Howard,Colin Prepscius,Daniel Lee,Volkan Isler
In this paper, we present AmbiSense, an acoustic field based sensing system that performs proximity detection and bearing estimation for safer physical human-robot interactions. A single low cost piezoelectric transducer is used to setup this novel acoustic sensing modality to create a blindspot-free sound field engulfing a robot arm. Two detection algorithms leveraging spectral information from r...
