A Three-Stage Framework to Active Source Localization from a Binaural Head

Gabriel Bustamante (1) , Alban Portello (1) , Patrick Danès (1)

1 LAAS-RAP - Équipe Robotique, Action et Perception

This paper takes place within the field of binaural localization in robotics. The aim is to design "active" schemes, which combine the signals sensed by a binaural head with its motor commands so as to overcome limitations occuring in a static context: front-back confusion, non-observability of hidden variables, etc. A three-stage strategy is proposed, which entails: the short-term detection and localization of sources from the short-term analysis of the binaural stream; the assimilation of these data over time and the fusion with the motor commands of the binaural sensor; the improvement of this fusion through the feedback control of the binaural sensor. For each stage, the theoretical bases, some achievements and open problems are outlined.

Mots clés: robot audition; ML estimation; Kalman filtering; information-based control; active localization

Domaines: Robotique [cs.RO]; Traitement du signal et de l'image [eess.SP]

Gabriel Bustamante, Alban Portello, Patrick Danès. A Three-Stage Framework to Active Source Localization from a Binaural Head. 40th IEEE International Conference on Acoustics, Speech and Signal Processing, Apr 2015, Brisbane, Australia. 5p., ⟨10.1109/ICASSP.2015.7179047⟩. ⟨hal-01969307⟩