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Binaural Bearing Only Tracking of Stationary Sound Sources in Reverberant Environment

Kossyk, Ingo and Neumann, Michael and Marton, Zoltan Csaba (2015) Binaural Bearing Only Tracking of Stationary Sound Sources in Reverberant Environment. In: IEEE-RAS International Conference on Humanoid Robots. 2015 IEEE-RAS International Conference on Humanoid Robots, 3.-5. Nov. 2015, Seoul, Korea.

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In this work we present a framework for the estimation of the Cartesian position of stationary sound sources in reverberant environments and under the influence of heavy clutter based on binaural bearing measurements. We employ a particle filter (PF) on binaural measurements to estimate the position of the sound sources in a bearing only tracking (BOT) formulation and investigate how the estimation accuracy can be improved in reverberant environments by applying a gating method that is inspired by the precedence effect. We evaluate the interaural coherency in order to identify time frequency units of the received signals that show a high linear dependency and therefore are potentially dominated by the direct sound emitted by sound sources. We use a particle filter for state estimation and lay out the theoretical model for state representation, propagation and estimation. The feasibility of the presented methods is evaluated in simulations and we give first results of tracking performance when applied to real world binaural localization measurements of a sound source in a typical reverberant scenario. Our results show that gating the binaural bearing measurements with the interaural coherency can improve localization accuracy to a large degree.

Item URL in elib:https://elib.dlr.de/100780/
Document Type:Conference or Workshop Item (Speech)
Title:Binaural Bearing Only Tracking of Stationary Sound Sources in Reverberant Environment
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:binaural, bearing only tracking, particle filter, sound, localization, audio, robot
Event Title:2015 IEEE-RAS International Conference on Humanoid Robots
Event Location:Seoul, Korea
Event Type:international Conference
Event Dates:3.-5. Nov. 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Kossyk, Ingo
Deposited On:15 Dec 2015 14:17
Last Modified:31 Jul 2019 19:58

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