A novel geometric model reconstruction method of the surrounding environment with echoes

A novel method is proposed to reconstruct the environmental geometric model in this paper. It is achieved by exploiting threshold method firstly, which is based on moving average filter. And then the space searching method is used to search the whole space, thus rebuilding the environmental geometric model. Experimental results demonstrate that this new method is feasible and simple to reconstruct the environmental geometric model. As it doesn´t need to match the echoes with the obstacles that reflect the sound source, and then it reduces the interference of ambient noises and higher-order echoes. And it also decreases the difficulty of echoes extracting.