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Binaural sound source localization is an important technique in friendly Human-Robot Interaction (HRI) for its easy-implementation with only two microphones. This paper develops a robust method based on a hierarchical probabilistic model. Reliable frequency sub-bands are used to PHAT — ργ method in the first layer to obtain a priori crude Interaural Time-Delay (ITD) and the probabilistic distribution...
Auditory is a convenient and efficient way for Human-Robot Interaction, however implementing a sound source localization system based on TDOA method encounters many problems, such as noise of real environments, and resolution of nonlinear equations, switch between far field and near field and lack of microphones for geometric positioning localization method. In this paper, a new spectral weighting...
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