Active binaural localization of intermittent moving sources in the presence of false meaurements

Alban Portello (1) , Patrick Danès (1) , Sylvain Argentieri (2, 3)

1 LAAS-RAP - Équipe Robotique, Action et Perception
2 AMAC - Architectures et modèles d'Adptation et de la cognition
3 ISIR - Institut des Systèmes Intelligents et de Robotique

This paper takes place within the field of active sound source localization in a binaural context. A stochastic filtering strategy is presented for the localization of a still or moving source from a moving binaural sensor. The proposed method accounts for the source intermittence as well as for false measurements induced by the non-stationarity of the emitted signal. Its effectiveness is showed on experimental results.

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

Alban Portello, Patrick Danès, Sylvain Argentieri. Active binaural localization of intermittent moving sources in the presence of false meaurements. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. pp.3294-3299, ⟨10.1109/IROS.2012.6385967⟩. ⟨hal-03196428⟩