Binaural Localization for a Mobile Sound Source

A Binaural Sound Source Localization System for a Mobile Robot

Biologically inspired binaural sound source localization and tracking for mobile robots

This thesis proposes, firstly, biologically inspired methods of binaural sound source localization for mobile robots. Secondly, we propose a method for modulating the robot’s attention inspired from the barn owl and thirdly a tracking system which makes it possible for a robot to track objects emitting sounds. Regarding sound source localization, the method that was best understood and evaluate...

Discriminative Binaural Sound Localization

Time difference of arrival (TDOA) is commonly used to estimate the azimuth of a source in a microphone array. The most common methods to estimate TDOA are based on finding extrema in generalized crosscorrelation waveforms. In this paper we apply microphone array techniques to a manikin head. By considering the entire cross-correlation waveform we achieve azimuth prediction accuracy that exceeds...

Chapter 5 Binaural Sound Localization

We listen to speech (as well as to other sounds) with two ears, and it is quite remarkable how well we can separate and selectively attend to individual sound sources in a cluttered acoustical environment. In fact, the familiar term ‘cocktail party processing’ was coined in an early study of how the binaural system enables us to selectively attend to individual conversations when many are prese...

Binaural source localization

In binaural signals, interaural time differences (ITDs) and interaural level differences (ILDs) are two of the most important cues for the estimation of source azimuths, i.e. the localization of sources in the horizontal plane. For narrow band signals, according to the duplex theory, ITD is dominant at low frequencies and ILD is dominant at higher frequencies. Based on the STFT spectra of binau...