将3D场景转为可听空间，帮助视障者用声音感知环境。
Listen to Your Map: An Online Representation for Spatial Sonification
- 用深度传感器构建360度声学地图，贴合人耳听觉空间感知。
- 在动态环境中实现高精度实时定位与地图重建，覆盖更广。
- 适合开发无障碍导航系统，尤其适用于视障人士的听觉辅助。
机器人感知正成为导航辅助的关键技术，尤其在帮助视障人士通过空间声化方面。本文提出一种映射表示方法，能准确捕捉场景几何结构以实现声化，将物理空间转化为听觉体验。利用深度传感器，将逐步构建的3D场景编码为紧凑的360度表示，包含角度与距离信息，契合人类听觉空间感知。采用基于VDB-Gaussian Process Distance Fields的框架，实现高效在线场景重建。核心是传感器中心结构，维持2D环形或3D圆柱形栅格投影。该空间表示随后通过预录的典型房间响应转换为双声道音频信号。定量与定性评估表明，相比其他方法，在准确性、覆盖率、响应速度和声化适用性上均有提升，且能有效处理动态物体。附带视频演示了在类房间环境中的空间声化效果。
原文摘要 · Abstract (English)
Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry for sonification, turning physical spaces into auditory experiences. Using depth sensors, we encode an incrementally built 3D scene into a compact 360-degree representation with angular and distance information, aligning this way with human auditory spatial perception. The proposed framework performs localisation and mapping via VDB-Gaussian Process Distance Fields for efficient online scene reconstruction. The key aspect is a sensor-centric structure that maintains either a 2D-circular or 3D-cylindrical raster-based projection. This spatial representation is then converted into binaural auditory signals using simple pre-recorded responses from a representative room. Quantitative and qualitative evaluations show improvements in accuracy, coverage, timing and suitability for sonification compared to other approaches, with effective handling of dynamic objects as well. An accompanying video demonstrates spatial sonification in room-like environments. https://tinyurl.com/ListenToYourMap
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