公开(公告)号：US20250067836A1

公开(公告)日：2025-02-27

申请号：US18453785

申请日：2023-08-22

Applicant: Nokia Technologies Oy

Inventor： Walter ETTER ,  Gang HUANG

IPC: G01S5/24

Abstract: Examples of the disclosure relate to localization that can be implemented with a low number of nodes. In examples of the disclosure an apparatus for acoustic localization comprises means for detecting two or more acoustic signals originating from two or more acoustic sources. The apparatus also comprises means for generating a first category of parameters for the two or more detected acoustic signals and generating a second category parameters for the two or more detected acoustic signals. At least, the first category of parameters and the second category of parameters are used to generate a timing parameter for the two or more detected acoustic signals. At least the timing parameter and the first category of parameters are used to determine an estimate of a location of an object associated with the two or more detected acoustic signals.

公开(公告)号：US20220113370A1

公开(公告)日：2022-04-14

申请号：US17066057

申请日：2020-10-08

Applicant: NOKIA TECHNOLOGIES OY

Inventor： Ian DAVIS ,  Walter ETTER ,  Hong JIANG

IPC: G01S5/24

Abstract: A system, apparatus, method and computer program product determine the location of a receiver, such as one or more sensors, carried by a device, e.g., a robot. In a method, an audio signal is received in response to a predetermined audio signal provided by at least two audio source devices. For the audio signal that is received from a respective audio source device, the method estimates a first impulse response between the respective audio source device and the receiver. For the first impulse response estimated between each respective audio source device of the at least two audio source devices and the receiver, the method removes one or more reflections from the first impulse response to create direct path information. The method also includes determining a location of the receiver based at least in part upon the direct path information.