Aug 2026· Journal of the Acoustical Society of America· Vol 159, pp. A314-A314· 0 citations
TL;DR
This work presents a real-time, edge-deployable multimodal framework that integrates acoustic sound source localization (SSL) with visual object detection and tracking to close this initialization gap in urban environments.
Abstract
Urban environments pose significant challenges for real-time target localization and tracking due to reverberation, occlusions, and frequent GPS degradation. Visual-only systems often suffer from delayed target acquisition when line-of-sight is obstructed, while acoustic sensing provides passive, low-latency directional cues but lacks spatial resolution for persistent tracking. This work presents a real-time, edge-deployable multimodal framework that integrates acoustic sound source localization (SSL) with visual object detection and tracking to close this initialization gap. Acoustic cues are employed to actively steer a servo-mounted camera, reducing the visual search space and accelerating time-to-acquisition. Visual detections are performed using YOLOv8, while temporal consistency is maintained via BoT-SORT with camera motion compensation. An extended Kalman Filter (EKF) fuses acoustic DoA estimates and visual bounding box measurements to enable robust tracking under nonlinear motion and temporary visual occlusions.
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