We propose a method for localizing an acoustic source with distributed microphone networks. Time Differences of Arrival (TDOAs) of signals pertaining the same sensor are estimated through Generalized ...Cross-Correlation. After a TDOA filtering stage that discards measurements that are potentially unreliable, source localization is performed by minimizing a fourth-order polynomial that combines hyperbolic constraints from multiple sensors. The algorithm turns to exhibit a significantly lower computational cost compared with state-of-the-art techniques, while retaining an excellent localization accuracy in fairly reverberant conditions.
In this paper, we propose a robust and low-complexity acoustic source localization technique based on time differences of arrival (TDOA), which addresses the scenario of distributed sensor networks ...in 3D environments. Network nodes are assumed to be unsynchronized, i.e., TDOAs between microphones belonging to different nodes are not available. We begin with showing how to select feasible TDOAs for each sensor node, exploiting both geometrical considerations and a characterization of the overall generalized cross correlation (GCC) shape. We then show how to localize sources in the space-range reference frame, where TDOA measurements have a clear geometrical interpretation that can be fruitfully used in the scenario of unsynchronized sensors. In this framework, in fact, the source corresponds to the apex of a hypercone passing through points described by the sole microphone positions and TDOA measurements. The localization problem is therefore approached as a hypercone fitting problem. Finally, in order to improve the robustness of the estimate, we include an outlier detection procedure based on the evaluation of the hypercone fitting residuals. A refinement of source location estimate is then performed ignoring the contributions coming from outlier measurements. A set of simulations shows the performance of individual blocks of the system, with particular focus on the effect of TDOA selection on source localization and refinement steps. Experiments on real data validate the localization algorithm in an everyday scenario, proving that good accuracy can be obtained while saving computational cost in comparison with state-of-the-art techniques.
In this paper, we propose a novel acoustic source localization method that accommodates the general scenario of multiple independent microphone arrays. The method is based on a 3-D parameter space ...defined by the 2-D spatial location of a source and the range difference extracted from the time difference of arrival (TDOA). In this space, the set of points that correspond to a given range lie on a circle that expand as the range increases, forming a cone whose apex is the actual location of the source. In this parameter space, the lack of synchronization between arrays results in the fact that clusters of data associated to individual arrays are free to shift along the range axis. The cone constraint, in fact, enables the realignment of such clusters while positioning the cone vertex (source location), thus resulting in a joint data re-synchronization and source localization. We also propose a novel and general analysis methodology for swiftly assessing the localization error as a function of the TDOA uncertainties, which is remarkably accurate for small localization bias. With the aid of this method, simulations and experiments on real data, we show that the cone-fitting process offers excellent localization accuracy in the scenario of multiple unsynchronized arrays, as well as in simpler single-array scenarios, also in comparison with state-of-the-art techniques. We also show that the proposed method offers the desired flexibility for adapting to arbitrary geometries of microphone clusters.
Estimating the geometric and reflective properties of the environment is important for a wide range of applications of space-time audio processing, from acoustic scene analysis to room equalization ...and spatial audio rendering. In this manuscript, we propose a methodology for frequency-subband in-situ estimation of the reflection coefficients of planar surfaces. This is a rather challenging task, as the reflection coefficients depend on the frequency and the angle of incidence and their estimate is highly sensitive to background noise and interfering sources. Our method is based on the assumption that we know the geometry of the reflectors; the position and the radiation pattern of the source; the position and the spatial response of the array. Applying beamforming algorithms on a single set of measured sensor data, we estimate the angular distribution of the acoustic energy (angular pseudospectrum) that impinges on a microphone array. We then apply a two-step iterative estimation technique based on an Expectation-Maximization (EM) algorithm. The first step estimates the scaling factors. The second one infers the reflection coefficients from the scaling factors. Under the assumption of additive white Gaussian noise, we finally determine the reflection coefficients with a Maximum Likelihood (ML) estimation method. The effectiveness and the accuracy of the proposed technique are assessed through experiments based on measured data.
The beam tracing method can be used for the fast tracing of a large number of acoustic paths through a direct lookup of a special tree-like data structure (beam tree) that describes the iterated ...visibility information from one specific position. This structure describes the branching of bundles of rays (beams) as they encounter reflectors in their paths. For this reason, beam tracing is suitable for real-time acoustic rendering even when the receiver is moving. In this paper, we propose a novel technique that enables the fast tracing of a large number of acoustic beams through the iterative lookup of a special data structure that describes the global visibility between reflectors. The method enables the immediate generation of the beam tree corresponding to an arbitrary source location, which can then be used for path tracing through direct lookup. In practice, this technique generalizes the traditional beam-tracing method as it makes it suitable for real-time acoustic rendering not just when the receiver is moving but also when the source is moving. The method enables real-time modeling of acoustic propagation and real-time auralization in complex 2-D and 2-Dtimes1-D environments (e.g., vertical walls limited by horizontal floor and ceiling), which makes it suitable for applications of real-time virtual acoustics, immersive gaming, and advanced acoustic rendering. Some experimental results show the effectiveness of fast beam tracing with respect to the state of the art in acoustic beam tracing.
We present an extension of the fast beam-tracing method presented in the work of Antonacci et al. (2008) for the simulation of acoustic propagation in reverberant environments that accounts for ...diffraction and diffusion. More specifically, we show how visibility maps are suitable for modeling propagation phenomena more complex than specular reflections. We also show how the beam-tree lookup for path tracing can be entirely performed on visibility maps as well. We then contextualize such method to the two different cases of channel (point-to-point) rendering using a headset, and the rendering of a wave field based on arrays of speakers. Finally, we provide some experimental results and comparisons with real data to show the effectiveness and the accuracy of the approach in simulating the soundfield in an environment.
The evolutionary history of α-satellite DNA, the major component of primate centromeres, is hardly defined because of the difficulty in its sequence assembly and its rapid evolution when compared ...with most genomic sequences. By using several approaches, we have cloned, sequenced, and characterized α-satellite sequences from two species representing critical nodes in the primate phylogeny: the white-cheeked gibbon, a lesser ape, and marmoset, a New World monkey. Sequence analyses demonstrate that white-cheeked gibbon and marmoset α-satellite sequences are formed by units of ∼171 and ∼342 bp, respectively, and they both lack the high-order structure found in humans and great apes. Fluorescent in situ hybridization characterization shows a broad dispersal of α-satellite in the white-cheeked gibbon genome including centromeric, telomeric, and chromosomal interstitial localizations. On the other hand, centromeres in marmoset appear organized in highly divergent dimers roughly of 342 bp that show a similarity between monomers much lower than previously reported dimers, thus representing an ancient dimeric structure.
All these data shed light on the evolution of the centromeric sequences in Primates. Our results suggest radical differences in the structure, organization, and evolution of α-satellite DNA among different primate species, supporting the notion that 1) all the centromeric sequence in Primates evolved by genomic amplification, unequal crossover, and sequence homogenization using a 171 bp monomer as the basic seeding unit and 2) centromeric function is linked to relatively short repeated elements, more than higher-order structure.
Moreover, our data indicate that complex higher-order repeat structures are a peculiarity of the hominid lineage, showing the more complex organization in humans.
We present an extension of the fast beam-tracing method presented in the work of Antonacci et al. (2008) for the simulation of acoustic propagation in reverberant environments that accounts for ...diffraction and diffusion. More specifically, we show how visibility maps are suitable for modeling propagation phenomena more complex than specular reflections. We also show how the beam-tree lookup for path tracing can be entirely performed on visibility maps as well. We then contextualize such method to the two different cases of channel (point-to-point) rendering using a headset, and the rendering of a wave field based on arrays of speakers. Finally, we provide some experimental results and comparisons with real data to show the effectiveness and the accuracy of the approach in simulating the soundfield in an environment.
Copy number variation (CNV) contributes to disease and has restructured the genomes of great apes. The diversity and rate of this process, however, have not been extensively explored among great ape ...lineages. We analyzed 97 deeply sequenced great ape and human genomes and estimate 16% (469 Mb) of the hominid genome has been affected by recent CNV. We identify a comprehensive set of fixed gene deletions (n = 340) and duplications (n = 405) as well as >13.5 Mb of sequence that has been specifically lost on the human lineage. We compared the diversity and rates of copy number and single nucleotide variation across the hominid phylogeny. We find that CNV diversity partially correlates with single nucleotide diversity (r(2) = 0.5) and recapitulates the phylogeny of apes with few exceptions. Duplications significantly outpace deletions (2.8-fold). The load of segregating duplications remains significantly higher in bonobos, Western chimpanzees, and Sumatran orangutans-populations that have experienced recent genetic bottlenecks (P = 0.0014, 0.02, and 0.0088, respectively). The rate of fixed deletion has been more clocklike with the exception of the chimpanzee lineage, where we observe a twofold increase in the chimpanzee-bonobo ancestor (P = 4.79 × 10(-9)) and increased deletion load among Western chimpanzees (P = 0.002). The latter includes the first genomic disorder in a chimpanzee with features resembling Smith-Magenis syndrome mediated by a chimpanzee-specific increase in segmental duplication complexity. We hypothesize that demographic effects, such as bottlenecks, have contributed to larger and more gene-rich segments being deleted in the chimpanzee lineage and that this effect, more generally, may account for episodic bursts in CNV during hominid evolution.
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