Acoustic sensing in air is a promising technology for fast and accuratecharacterization of objects. Nevertheless, it is difficult to clearly identify acoustic signals from small objects because of environmental noise and scattering from the object surface. Therefore, it is necessary to establish a sensing system that is able to measure objects in air. In this study, we localized small objects by using an M-sequence signal and phase information of received signals in a noisy indoor environment. The M-sequence signal was able to improve the SN ratio and to stably measure the reflected waves that cannot be detected by using a conventional impulse. The arrival direction information was used to extract reflected signals of targets from unwanted signals from the floor or ceiling. Using an M-sequence signal and the arrival direction information, the positions of small objects were detected in the indoor environment.
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