Cooperative AudioVisual System for Localizing Small Aerial Robots Employing small size aerial robots, acting as mobile airborne sensors, to work alongside ground robots can be extremely useful in many different robotic missions. Due to the strict constraints in terms of size, weight, 3D coverage, processing power and power consumption. There are not many technological possibilities for performing independent selflocalization for such tiny robots. This paper describes a cooperative audiovisual localization system to robustly estimate the position of a small aerial robot from a ground robot. Experimental results with a 40gram quadrotor assess the performance of the system and demonstrate the reliability gained through fusion of sound measurements with visual information.

Audiovisual sensing from a quadcopter: dataset and baselines for source localization and sound enhancement We present an audiovisual dataset recorded outdoors from a quadcopter and discuss baseline results for multiple applications. The dataset includes a scenario for source localization and sound enhancement with up to two static sources, and a scenario for source localization and tracking with a moving sound source. These sensing tasks are made challenging by the strong and timevarying egonoise generated by the rotating motors and propellers. The dataset was collected using a small circular array with 8 microphones and a camera mounted on the quadcopter. The camera view was used to facilitate the annotation of the soundsource positions and can also be used for multimodal sensing tasks. We discuss the audiovisual calibration procedure that is needed to generate the annotation for the dataset, which we make available to the research community1.1http:cis.eecs.qmul.ac.ukprojectsavq