Fachbereich Informatik

ODAS Multichannel audio-interface for our PR2 robot

Bachelor- or Master-Thesis at group TAMS


While audition traditionally has played only a secondary role for robots, it is increasingly seen as an important input channel that provides additional information not readily obtainable from vision or motion sensors. In particular, advanced signal processing algorithms and deep neural networks are proposed to extract and localize sound events and sources from multi-channel multi-mircophone data. Also, real-time speaker-independent speech recognition is within reach of deep neural network approaches by now.

Potential application scenarios are plentiful, including

ODAS - Open embedded audition system

We have bought the 16-channel open-source audio processing board developed as part of the ODASA project, https://github.com/introlab/odas, together with a set of microphones.

However, the hardware has never been installed on any of our robots, and the basic setup and test of the board and accompanying software will be the first part of the thesis. Given the current Corona-restrictions, this part of the thesis could be done at home.

In the second step, we will plan and decide on the actual hardware installation on our robot(s), selecting suitable locations for the microphones on our PR2 two-arm mobile service robot. At this stage, we could also consider additional boards for installation on our other robots or in our (fixed) lab setups.

In the third step, to be discussed when starting the thesis, we will select one or two application scenarios that form the main part of the thesis, with the research topic selected from among the items listed above.

Thesis Goals: