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Noise seems to follow engine speed (vibration speeds up when you raise engine RPMs) - could be a number of things - doesn't sound like one of those "fatal" engine sounds.
More like the exhaust heat shield touching the exhaust manifold and vibrating. Could also be a bad belt tensioner as well - you could try running the engine with the serpentine belt off for a short time to see if it is related to the belt, will not hurt the engine if run for a very short time - enough time to diagnose the noise.
Since you can hear it from the bottom of the car and out the side by the wheel well - my money is on a loose heat shield or broken/loose exhaust bracket/clamp/blow out exhaust gasket.
Assuming you checked all the simple stuff - make sure fluids are in good shape, plenty of fresh engine oil, car didn't experience any overheating or accident before this noise started up.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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