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Robust 3D Robotic Sound Localization Using State-Space HRTF Inversion

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3 Author(s)
Keyrouz, F. ; Tech. Univ. Munchen, Munchen ; Diepold, K. ; Dewilde, P.

We address the problem of robotic real-time binaural hearing using a humanoid head. The sound detection ability for a previously proposed robotic 3D binaural sound localization technique is stabilized and considerably enhanced. The proposed technique is based on using two small microphones placed inside the ear canal of a robot dummy head mounted on a torso. As initially proposed, the detection algorithm is based on a simple correlation approach using a generic set of head related transfer functions, HRTFs, inverted using the fast Fourier transform, FFT, method. In the current work, we replace the Fourier inversion mechanism with state-space inversion using outer-inner factorization, and we demonstrate the performance through simulation and further in a household environment. Due to this modification, our robotic sound detection set up proves to be more noise-tolerant and able to localize sound sources in a three-dimensional space with a higher precision.

Published in:

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Date of Conference:

17-20 Dec. 2006

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