DocumentCode :
2614333
Title :
A biomimetic apparatus for sound-source localization
Author :
Handzel, Amir A. ; Andersson, Sean B. ; Gebremichael, Martha ; Krishnaprasad, P.S.
Author_Institution :
Dept. of Electr. & Comput. Eng., Maryland Univ., College Park, MD, USA
Volume :
6
fYear :
2003
fDate :
9-12 Dec. 2003
Firstpage :
5879
Abstract :
Sound source localization systems are typically made of free field microphone arrays. We have proposed the design of a localizing system based on the principles observed in nature, where directional acoustic sensing evolved to rely on diffraction about the head with only two ears. Localization is performed using the resultant frequency dependent acoustic phase and intensity differences between the two ears. These interaural functions can be computed analytically by modeling the head as a sphere. Now we report the first successful implementation of these ideas in an artificial head with two antipodally placed microphones. In order to determine source direction, we define a suitable metric associated to interaural functions. The true source direction is given by the global minimum of the metric between a measurement and a table of theoretical functions. The system was tested with a broadband source and was found to perform well even in a non-ideal reverberant laboratory environment. For comparison, we also calculated the source direction using the standard cross-correlation algorithm which is based on interaural time delay. Our approach performs more accurately and allows to use briefer signal durations. A key motivation for this work is to devise effective means to guide robotic navigation in environments with acoustic sources. The apparatus described in this paper is installed on a mobile robot in the laboratory.
Keywords :
acoustic signal detection; array signal processing; biomimetics; mobile robots; path planning; biomimetic apparatus; cross-correlation algorithm; directional acoustic sensing; interaural time delay; mobile robot; robotic navigation; sound-source localization; Acoustic diffraction; Biomimetics; Delay effects; Ear; Frequency dependence; Microphone arrays; Navigation; Performance evaluation; Robots; System testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN :
0191-2216
Print_ISBN :
0-7803-7924-1
Type :
conf
DOI :
10.1109/CDC.2003.1271944
Filename :
1271944
Link To Document :
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