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I wonder if anyone is working in acoustic tracking. I use particle filter for sound source tracking and it works well for my project. However, in the situation when sound source disappear and reappear, particle filter wont work. Is there a way to detect object disappearance.


Originally posted by dmngu9 on ROS Answers with karma: 150 on 2016-03-10

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try to predict the lost data and recover the tracks after the data becomes available.


Originally posted by ja_ros with karma: 31 on 2016-03-11

This answer was ACCEPTED on the original site

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Original comments

Comment by dmngu9 on 2016-03-13:
The problem is that currently i track the loudest sound source. If the sound source is not present, other ambient sound is gonna be in place which is false (particle filter will keep tracking these false sound sources). therefore, I need some kind of feature to separate interest source and the other

Comment by dmngu9 on 2016-03-13:
Also, how can i recover the particle filter, should i re distribute the particles all over place, or move the existing particles to the highest probability position

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