Robotic perception is emerging as a crucial technology for navigation aids, particularly benefiting individuals with visual impairments through sonification. This paper presents a novel mapping framework that accurately represents spatial geometry for sonification, transforming physical spaces into auditory experiences. By leveraging depth sensors, we convert incrementally built 3D scenes into a compact 360-degree representation based on angular and distance information, aligning with human auditory perception. Our proposed mapping framework utilises a sensor-centric structure, maintaining 2D circular or 3D cylindrical representations, and employs the VDB-GPDF for efficient online mapping. We introduce two sonification modes-circular ranging and circular ranging of objects-along with real-time user control over auditory filters. Incorporating binaural room impulse responses, our framework provides perceptually robust auditory feedback. Quantitative and qualitative evaluations demonstrate superior performance in accuracy, coverage, and timing compared to existing approaches, with effective handling of dynamic objects. The accompanying video showcases the practical application of spatial sonification in room-like environments.

翻译：机器人感知正逐渐成为导航辅助的关键技术，尤其通过声化技术为视障人士带来显著益处。本文提出了一种新颖的映射框架，能够精确表示用于声化的空间几何结构，将物理空间转化为听觉体验。通过利用深度传感器，我们将逐步构建的3D场景转换为基于角度和距离信息的紧凑型360度表示，该表示与人类听觉感知特性相契合。我们提出的映射框架采用以传感器为中心的结构，维持2D圆形或3D圆柱形表示，并运用VDB-GPDF实现高效的在线建图。我们引入了两种声化模式——圆形测距与物体圆形测距，同时支持用户对听觉滤波器的实时控制。通过融合双耳房间脉冲响应，本框架能够提供感知鲁棒的听觉反馈。定量与定性评估表明，相较于现有方法，本框架在精度、覆盖范围和时序性能方面均表现优异，并能有效处理动态物体。随附视频展示了空间声化在类房间环境中的实际应用。