Geometric reconstruction of the environment from its response to multiple acoustic emissions

In this paper we propose a method for reconstructing the 2D geometry of the surrounding environment based on the signals acquired by a fixed microphone, when a series of acoustic stimula are produced in different positions in space. After estimating the Times Of Arrival (TOAs) of the reflective paths, we turn each TOA into a projective geometric constraint that can be used for determining the locations of the reflectors. The result consists of a collection of planar surfaces that correspond to the reflectors' locations. In this paper we present the whole processing chain and prove its effectiveness through experimental results.