Sound Localization of Elevation using Pinnae for Auditory Robots

摘要

In this chapter, by using a system consisting of two microphones and one pinna, a method for sound localization using spectral cues was considered. In particular, a robust spectral cue detection method was considered and a method for orientating the robot's head toward a sound source was proposed. In addition, this chapter considers the use of sound source separation in order to attenuate the effect of noise. The conclusions of this present study are summarized as follows: ? Real robotic pinnae were designed and a robot using the pinnae was developed. ? In order to realize sound localization with vertical displacement, an algorithm for detecting spectral cues using the developed pinnae was proposed. ? Spectral cue detection was made robust by considering their frequency continuity with respect to time. A model for determining the sound elevation angle by measuring spectral cues was introduced.