A Survey on Sound Source Localization in Robotics: from Binaural to Array Processing Methods

Sylvain Argentieri (1) , Patrick Danès (2) , Philippe Souères (3)

1 PAM - PAM Groupe Perception Active Multimodale
2 LAAS-RAP - Équipe Robotique, Action et Perception
3 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

This paper attempts to provide a state-of-the-art of sound source localization in Robotics. Noticeably, this 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. A comprehensive review is proposed of recent robotics achievements, be they binaural or rooted in Array Processing techniques. The connections are highlighted with the underlying theory as well as with elements of physiology and neurology of human hearing.

Mots clés: Robot audition; source localization; binaural audition; array processing

Domaines: Automatique / Robotique; Traitement du signal et de l'image [eess.SP]; Traitement du signal et de l'image [eess.SP]; Acoustique [physics.class-ph]; Acoustique [physics.class-ph]

Sylvain Argentieri, Patrick Danès, Philippe Souères. A Survey on Sound Source Localization in Robotics: from Binaural to Array Processing Methods. Computer Speech and Language, 2015, 34 (1), pp. 87-112. ⟨hal-01058575⟩