Visualization of Distribution of Room Acoustic Parameters by Using Mobile Robot
* Presenting author
In this paper, we design a robot system to generate a map which shows acoustic information in a room. A distribution of room acoustic parameters helps us understand acoustic environment; nevertheless it needs measurement of impulse responses at multiple points that are time-consuming. To visualize a distribution of room acoustic parameters with efficiency, we utilized a mobile robot with SLAM (which estimates the self-localization and environment map simultaneously). The mobile robot leverages self-localization to record measurement points and utilizes an environment map as a base to be plot acoustic information on. The robot repeats measurement of impulse responses and moving all over the room. We extract parameters from each impulse responses then conversion this parameters to color. Finally, we plot the color information at measurement points on the environment map. We examined how visualized a distribution of room acoustic parameters in an actual meeting room with sufficient accuracy. In result, the robot system generated maps of room acoustic parameters that are related to reverberation and speech clarity.