Krekovic, MirandaDokmanic, IvanVetterli, Martin2016-01-252016-01-252016-01-25201610.1109/ICASSP.2016.7471627https://infoscience.epfl.ch/handle/20.500.14299/122651WOS:000388373400003We address the problem of jointly localizing a robot in an unknown room and estimating the room geometry from echoes. Unlike earlier work using echoes, we assume a completely autonomous setup with (near) collocated microphone and the acoustic source. We first introduce a simple, easy to analyze estimator, and prove that the sequence of room and trajectory estimates converges to the true values. Next, we approach the problem from a Bayesian point of view, and propose a more general solution which does not require any assumptions on motion and measurement model of the robot. In addition to theoretical analysis, we validate both estimators numerically.Room geometry estimationecho sortingsound source localizationsimultaneous localization and mappingLCAV-SSPLCAV-APDAtext::conference output::conference proceedings::conference paper