Acoustic models and Kalman filtering strategies for active binaural sound localization

Alban Portello, Patrick Danes, Sylvain Argentieri
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper deals with binaural sound localization. An active strategy is proposed, relying on a precise model of the dynamic changes induced by motion on the auditive perception. The proposed framework allows motions of both the sound source and the sensor. The resulting stochastic discretetime model is then exploited together with Unscented Kalman filtering to provide range and azimuth estimation. Simulations and experiments show the effectiveness of the method.
doi:10.1109/iros.2011.6094842 dblp:conf/iros/PortelloDA11 fatcat:k5dx3hauz5a33nwdacgq24i4bi