An acoustic detection model based on the direct-to-reverberant energy ratio (DRR) is proposed to estimate room shape with audible sound. Besides the direct propagation, the first-order reflection is considered in the calculation of the DRR in this work. Thus, the direct-to-reflected acoustic path ratio is estimated in the proposed model to compute the reflection point, which is used to calculate the pose estimate of the reflector. The mapping of the proposed model is completed by fusing the pose estimates of walls with the spatio-temporal diversity. An initialization process is developed to obtain the initial value of the detection model. An acquisition system working under audible frequencies is built. The experimental results show that even with a low signal-to-diffuse noise ratio (−10 dB), the error of the proposed method is still less than 0.5 degrees in angle and 0.03 m in distance, demonstrating the robustness of the proposed model under the environment with multipath reflections.
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