3D TDOA-AOA Quaternion Based Acoustic SLAM for Drone Localization and Source Mapping

Hala Abualsaud; Peter Gerstoft

ICASSP 2025accepted0 citations

3D TDOA-AOA Quaternion Based Acoustic SLAM for Drone Localization and Source Mapping

Abstract

This paper focuses on improving 3D sound mapping using acoustic simultaneous localization and mapping (SLAM), angle of arrival (AOA), and time difference of arrival (TDOA). We use quaternion for orientation tracking. Through simulations involving a drone equipped with microphone arrays and an inertial measurement unit (IMU), the paper shows the effective localization of a drone moving in a room and mapping multiple stationary sources in a dynamic environment.

BibTeX

@inproceedings{icassp2025_3dtdoaaoaquatern,
  title = {3D TDOA-AOA Quaternion Based Acoustic SLAM for Drone Localization and Source Mapping},
  author = {Hala Abualsaud and Peter Gerstoft},
  booktitle = {ICASSP 2025},
  year = {2025}
}