Reconstruction of Depth Scenes Based on Echolocation

In the field of robotics, scene understanding has been studied mainly by vision-based processing using RGB sensors such as cameras and LiDAR, depth sensors, or both. However, these sensors are difficult to use in human living spaces due to issues such as privacy and impact on the human body. In this paper, we propose a new framework for echolocation-based scene reconstruction with mixed inputs called Mixed ELSR. The problem of audible sound, which is easily affected by environmental noise, is solved by considering the characteristics of the input sound and integrating it with deep learning techniques. We have conducted experiments of recording data in real space and have shown the effectiveness of the proposed framework.