Proceedings ArticleDOI
Spectral Cues for Robust Sound Localization with Pinnae
Tomoko Shimoda,Toru Nakashima,Makoto Kumon,Ryuichi Kohzawa,Ikuro Mizumoto,Zenta Iwai +5 more
- pp 386-391
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TLDR
A robust method to localize the vertical direction of the sound source with two microphones and pinnae is proposed and the authors designed an audio servo with the proposed spectral cues and implemented the method in an actual robot.Abstract:
An important ability in auditory robots is the localization of sound source. In this paper, a robust method to localize the vertical direction of the sound source with two microphones and pinnae is proposed. In order to achieve vertical sound source localization, the method of detecting spectral cues, the relationship between spectral cues and source direction are studied. In addition, this paper considers sound source separation in order to recognize and isolate spectral cues only from the sound source in order to make the method robust to extraneous noise. Furthermore the authors designed an audio servo with the proposed spectral cues and implemented the method in an actual robot. The experimental results confirmed the effectiveness of the method.read more
Citations
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Journal ArticleDOI
Localization of sound sources in robotics: A review
Caleb Rascon,Ivan Meza +1 more
TL;DR: An extensive review and classification of SSL techniques and popular tracking methodologies; different facets of SSL as well as its state-of-the-art; evaluation methodologies used for SSL; and a set of challenges and research motivations are presented.
Journal ArticleDOI
A Survey on Sound Source Localization in Robotics: from Binaural to Array Processing Methods
TL;DR: This paper attempts to provide a state-of-the-art of sound source localization in Robotics in a context raises original constraints--e.g. embeddability, real time, broad- band environments, noise and reverberation--which are seldom simultaneously taken into account in Acoustics or Signal Processing.
Journal ArticleDOI
Advanced Binaural Sound Localization in 3-D for Humanoid Robots
TL;DR: The HRTF constitutes the cornerstone of a sound localization algorithm, which uses Bayesian information fusion to increase the localization resolution in a 3-D reverberant environment and allows a cost-effective real-time implementation for robotic platforms.
Proceedings ArticleDOI
A binaural sound source localization method using auditive cues and vision
TL;DR: This paper addresses the localization problem in a robotic humanoid context, providing a novel learning algorithm that uses binaural cues to determine the sound source's position.
Proceedings ArticleDOI
Ego-motion noise suppression for robots based on Semi-Blind Infinite Non-negative Matrix Factorization
TL;DR: Experimental results showed that ego-motion noise was suppressed well compared to a conventional template-based egomotion noise suppression method using motion information, and thus it worked properly on a robot which does not have an interface to provide the robot's motion information.
References
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Journal ArticleDOI
A physical model of sound diffraction and reflections in the human concha
TL;DR: An approximated physical model of the frequency transfer function of the human concha is developed and predicts that, because of sound diffraction, similar spectral features must be generated in the concha for sources at all azimuths within the frontal part of the ipsilateral hemisphere.
Book
Adaptive 3D Sound Systems
TL;DR: The adaptive approach to HRTF-based 3D sound systems is examined in detail and the derived solution can be applied to other applications, such as cross-talk cancellation, loudspeakers and room equalization, concert hall simulation, and active sound control.
Proceedings ArticleDOI
Audio servo for robotic systems with pinnae
TL;DR: Spectral cues were utilized in this paper instead of increasing number of microphones to extend horizontal sound localization to vertical sound localization and a controller which made the robot orient to the sound source was proposed.
Proceedings ArticleDOI
Adaptive audio servo for multirate robot systems
TL;DR: In this paper, audio servo robot system which was a servo system using audio information as feedback signal was considered and an adaptive audioServo system was proposed, showing effectiveness of the method.