← 研踪 PaperTrailarXiv:2611.14003 · v1
Spatio-Temporal Calibration of a Vehicle-Mounted Microphone Array for Autonomous Driving
首次提交 2026-11-10 20:44
版本更新 2026-11-10 20:44
雷达观测 2026-11-11 11:04
摘要
Microphones let an autonomous vehicle sense into areas its cameras and LiDAR cannot see, by picking up the sound that other traffic participants emit. Locating those sources and fusing them with the visual perception requires the microphone array to be calibrated and registered relative to the vehicle's other sensors. Existing calibration methods assume small, unobstructed indoor rigs, whereas a vehicle body casts an acoustic shadow that straight-line propagation cannot represent, and to our knowledge no calibration of an array distributed around a vehicle has been reported. We propose a pipeline that uses a balloon burst as a single cross-modal target, which the LiDAR locates in metric coordinates, every microphone hears as a sharp onset and a camera times. Each observation is weighted by its own timing variance, which discounts shadowed arrivals instead of discarding them and needs no model of the vehicle. On a full-size vehicle with eight microphones over a 4.9 m aperture, the held-out range residual of 6.37 cm approaches the 6.07 cm floor set by the onset timing noise, and the calibrated array tracks a moving source to within a few degrees of the vehicle's own LiDAR. A dozen bursts spread around the vehicle suffice, and spreading them matters more than adding more.
作者备注：Submitted to IEEE ICRA 2027
观测到的版本
相邻记录可能跳过中间版本；首次发现 v2 及以上也会标为版本更新。
v1 · 2026-11-10 20:44 · 最新观测版本
Spatio-Temporal Calibration of a Vehicle-Mounted Microphone Array for Autonomous Driving
Microphones let an autonomous vehicle sense into areas its cameras and LiDAR cannot see, by picking up the sound that other traffic participants emit. Locating those sources and fusing them with the visual perception requires the microphone array to be calibrated and registered relative to the vehicle's other sensors. Existing calibration methods assume small, unobstructed indoor rigs, whereas a vehicle body casts an acoustic shadow that straight-line propagation cannot represent, and to our knowledge no calibration of an array distributed around a vehicle has been reported. We propose a pipeline that uses a balloon burst as a single cross-modal target, which the LiDAR locates in metric coordinates, every microphone hears as a sharp onset and a camera times. Each observation is weighted by its own timing variance, which discounts shadowed arrivals instead of discarding them and needs no model of the vehicle. On a full-size vehicle with eight microphones over a 4.9 m aperture, the held-out range residual of 6.37 cm approaches the 6.07 cm floor set by the onset timing noise, and the calibrated array tracks a moving source to within a few degrees of the vehicle's own LiDAR. A dozen bursts spread around the vehicle suffice, and spreading them matters more than adding more.
查看此版本解读 →查看此版本原文 ↗