Selected work

Representative Papers

Optimizing Exploration with a New Uncertainty Framework for Active SLAM Systems

Jun 21, 2025

To address the exploration-exploitation imbalance, trajectory-dependent mapping uncertainty, and lack of general stopping criteria in active SLAM, this paper proposes an active mapping framework grounded in Uncertainty Maps (UM) and Uncertainty Frontiers (UF). We introduce Signed Relative Entropy (SiREn), a novel metric that jointly quantifies spatial coverage and state uncertainty, enabling dynamic balancing between exploration and exploitation. A probabilistic UM model is developed to support heterogeneous sensors—including monocular/stereo cameras, LiDAR, and multi-sensor fusion. Furthermore, we design a UF-driven online planning algorithm coupled with an adaptive termination strategy. To our knowledge, this is the first approach achieving fully autonomous exploration in open environments, significantly improving both mapping accuracy and path efficiency. We release an open-source ROS implementation alongside benchmark real-world and simulated datasets, facilitating reproducible research and community extension.

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Effect of laboratory conditions on the perception of virtual stages for music

May 26, 2025

This study addresses the critical issue of how laboratory acoustic conditions affect perceptual validity in virtual acoustics experiments. It systematically evaluates the impact of an anechoic chamber and two custom-built listening booths—differing in absorption performance (substandard vs. compliant)—on the perception of music-based virtual stage sound fields. Employing subjective listening tests, virtual source rendering, sound pressure level (SPL) comparisons, and Just-Noticeable Difference (JND) psychophysical measurements, the work proposes and empirically validates, for the first time, a perceptual validity criterion for listening rooms in virtual stage acoustics experiments. Results demonstrate that both the absorption-compliant booth and the anechoic chamber yield virtual sound intensity perception errors below the JND threshold (≈1.5 dB), whereas the substandard environment induces significantly larger errors, causing virtual sources to be perceived as excessively loud. This criterion establishes a quantitative, reproducible benchmark for standardizing acoustic environments in virtual acoustics research.

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Recent publications

Latest Papers

Optimizing Exploration with a New Uncertainty Framework for Active SLAM Systems

Jun 21, 2025

To address the exploration-exploitation imbalance, trajectory-dependent mapping uncertainty, and lack of general stopping criteria in active SLAM, this paper proposes an active mapping framework grounded in Uncertainty Maps (UM) and Uncertainty Frontiers (UF). We introduce Signed Relative Entropy (SiREn), a novel metric that jointly quantifies spatial coverage and state uncertainty, enabling dynamic balancing between exploration and exploitation. A probabilistic UM model is developed to support heterogeneous sensors—including monocular/stereo cameras, LiDAR, and multi-sensor fusion. Furthermore, we design a UF-driven online planning algorithm coupled with an adaptive termination strategy. To our knowledge, this is the first approach achieving fully autonomous exploration in open environments, significantly improving both mapping accuracy and path efficiency. We release an open-source ROS implementation alongside benchmark real-world and simulated datasets, facilitating reproducible research and community extension.

0 citationsRead paper

Effect of laboratory conditions on the perception of virtual stages for music

May 26, 2025

This study addresses the critical issue of how laboratory acoustic conditions affect perceptual validity in virtual acoustics experiments. It systematically evaluates the impact of an anechoic chamber and two custom-built listening booths—differing in absorption performance (substandard vs. compliant)—on the perception of music-based virtual stage sound fields. Employing subjective listening tests, virtual source rendering, sound pressure level (SPL) comparisons, and Just-Noticeable Difference (JND) psychophysical measurements, the work proposes and empirically validates, for the first time, a perceptual validity criterion for listening rooms in virtual stage acoustics experiments. Results demonstrate that both the absorption-compliant booth and the anechoic chamber yield virtual sound intensity perception errors below the JND threshold (≈1.5 dB), whereas the substandard environment induces significantly larger errors, causing virtual sources to be perceived as excessively loud. This criterion establishes a quantitative, reproducible benchmark for standardizing acoustic environments in virtual acoustics research.

0 citationsRead paper