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Sound source localization (SSL) is one of the important techniques used in various engineering fields such as monitoring and surveillance system, and so on. When SSL is utilized in robot auditory system, it is essential for Human-Robot Interaction (HRI) in that robot can recognize its working environment and what direction a speaker is locating. Generalized cross correlation (GCC) function has been...
A variety of methods for sound source localization have been developed recently and applied to several applications such as surveillance, auditory scene analysis for hearing aids, robot auditory system and so on. In the previous work, we proposed the sound source localization using the spatially mapped GCC functions based on TDOA under the single source assumption for robot auditory system. However,...
While various methods for sound source localization have been developed, most of them utilize on the time difference of arrival (TDOA) between microphones or the measured head related transfer functions (HRTF). In case of a real robot implementation, the former has a merit of light computation load to estimate the sound direction but can not consider the effect of platform on TDOAs, while the latter...
We propose a novel design of artificial robot ear and sound direction estimation method using the measured two output signals only. The spectral features in head-related transfer functions and in interaural transfer functions are distinctive across voice frequency band. Thus, these features provide effective sound cues to estimate sound direction using the measured two output signals. Bilateral asymmetry...
Many different methods for sound source localization have been developed. Most of them mainly depend on time difference of arrival (TDOA) or analytic head related transfer functions (HRTF). In real implementation, since the direct path between a source and a sensor is interrupted by obstacles as like a head or body of robot, it has to be considered the number of sensors as well as their positions...
Robots with sound localization capability have been developed mostly relying on machine vision or an array of more than two microphones. Humans can localize a sound source hidden to the eye and distinguish whether a sound is coming from front or rear, above or below with only two ears. This is mainly due to the complex shape of the pinna. In particular, reflections off the posterior wall of the concha...
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