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Results show that a mobile robot can localize and track in real-time multiple moving sources of different types over a range of 7 m.
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One possible application of this method is the monitoring of multiple moving acoustic sources with fixed hydrophones.
The proposed approach is based upon our earlier work and is now able to track, in reverberant scenarios, multiple moving sound sources while being hardware-light.
The method is validated against analytical solutions and experimental results for a fixed source, and against a higher-order finite difference time-domain method for the multiple scattering of a moving source.
To use multiple frames for TDE, however, non-stationarity of the speech signal and moving source case should be considered.
Actually, in the case of multiple speaker arrays, the global reverberation should be equally distributed to all the speakers, while the local reverberation follows the moving source.
Moving source.
Each source was processed using the moving source model.
Figure 15 Example of multiple moving object detection.
Close investigation of those light points reveal that they are made up of multiple light sources moving in a synchronized fashion, akin to our own solar system.
Multiple moves within the year were not accounted for.
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