A Novel Development of Acoustic SLAM

This paper will explore and develop on the novel idea of using acoustics to map and navigate indoor environments. The system requirements, modelling and evaluation are addressed, alongside the design and development process, testing methods, desired outcomes and practical applications. Previous work carried out in this field demonstrates that it is possible to use first order echoes to map a room. The current paper is reporting on initial research to further develop such algorithms into a simultaneous localization and mapping algorithm, having the capability to not only map rooms with sound but to also navigate rooms as well. Such novel system is intended to help visually impaired people to navigate rooms by making use of sounds and their echoes, thus `listening' their way into navigating through a room. The paper overviews the approach taken towards developing a navigation algorithm using sound, as well as the associated modelling, simulation and testing strategies enabling the desired outcomes of this type of system.