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feat(perception): audio scene classifier — detect indoor/outdoor/traffic/park from ambient sound #353

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opened 2026-03-03 13:45:15 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-03 13:45:15 -05:00
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Create a ROS2 node that subscribes to /audio_raw (or microphone via PyAudio). Compute mel-frequency spectral features (MFCC, spectral centroid, bandwidth) over 1-second windows. Classify scene into categories: indoor_quiet, indoor_noisy, outdoor_park, outdoor_traffic, outdoor_wind. Use a simple nearest-centroid classifier with pre-computed reference vectors. Publish /saltybot/audio_scene (String) at 1Hz. Include tests with synthetic audio.

Create a ROS2 node that subscribes to /audio_raw (or microphone via PyAudio). Compute mel-frequency spectral features (MFCC, spectral centroid, bandwidth) over 1-second windows. Classify scene into categories: indoor_quiet, indoor_noisy, outdoor_park, outdoor_traffic, outdoor_wind. Use a simple nearest-centroid classifier with pre-computed reference vectors. Publish /saltybot/audio_scene (String) at 1Hz. Include tests with synthetic audio.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#353
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