Abstract
In this article, we describe the auditory system for a multimodal mobile robot. The system contains four microphones that are spatially arranged to form Cartesian coordinates to localize sound azimuths and elevations. Different pairs of microphone will provide localization cues for three orthogonal dimensions. By using the top-mounted microphone, elevations of sound sources can also be localized based on the time difference and intensity difference cues. Different methods of spatial cue integration are proposed and compared. By incorporate the model of the precedence effect, the influence of echoes and reverberations are inhibited. Other auditory functions such as sound source separation, sound understanding, and 3D sound reproduction are expected to be developed in the future.
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Huang, J. (2002). Integration of Spatial Localization Cues - Auditory Processing for a Hearing Robot -. In: Jin, Q., Li, J., Zhang, N., Cheng, J., Yu, C., Noguchi, S. (eds) Enabling Society with Information Technology. Springer, Tokyo. https://doi.org/10.1007/978-4-431-66979-1_19
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DOI: https://doi.org/10.1007/978-4-431-66979-1_19
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