3-D Sound Localization Using the Binaural Model

摘要

The robot has evolved to meet various needs in the industrial world and the home flexibly today. However, an intellectual robot has not been developed yet. In the future, the intellectual robot that will think for myself, judges, and acts is needed. One of the important senses added to the robot is aural. It is said, “Sound Localization” to presume the direction of coming among these. It aims at the achievement of three dimension sound localization with two microphones that assume the application of the humanoid robot the auditory system in this research. Then, binaural model using dummy head was made as man's auditory model. In this research, the sound source direction is decided by two angles, one is the horizontal angle α, and the other is vertical angle β. The former is presumed from the difference of the time of arrival of the sound from the source to a right and left ear, and the latter is presumed from spectrum correlation analysis using HRTF (Head Related Transfer Function). HRTF is a transfer function of spectrum modulation caused because the sound is diffracted and reflects by the ruggedness of the head and the earlobe. The directional information of the sound is taken out by using information that system has as knowledge. The direction location experiment was done in the anechoic chamber for some sources. The correct presumption rate became about 90% on the average, and was able to show the possibility of the sound localization by this technique.