Skip to Main content Skip to Navigation
Journal articles

An Information Based Feedback Control for Audio-Motor Binaural Localization

Gabriel Bustamante 1 Patrick Danès 1 Thomas Forgue 1 Ariel Podlubne 1 Jérôme Manhes 2
1 LAAS-RAP - Équipe Robotique, Action et Perception
LAAS - Laboratoire d'analyse et d'architecture des systèmes
2 LAAS-I2C - Service Instrumentation Conception Caractérisation
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : In static scenarios, binaural sound localization is fundamentally limited by front-back ambiguity and distance non-observability. Over the past few years, "active" schemes have been shown to overcome these shortcomings, by combining spatial binaural cues with the motor commands of the sensor. In this context, given a Gaussian prior on the relative position to a source, this paper determines an admissible motion of a binaural head which leads, on average, to the one-step-ahead most informative audio-motor localization. To this aim, a constrained optimization problem is set up, which consists in maximizing the entropy of the next predicted measurement probability density function over a cylindric admissible set. The method is appraised through geometrical arguments, and validated in simulations and on real-life robotic experiments.
Complete list of metadatas

Cited literature [20 references]  Display  Hide  Download

https://hal.laas.fr/hal-01710571
Contributor : Patrick Danes <>
Submitted on : Friday, February 16, 2018 - 10:28:07 AM
Last modification on : Friday, January 10, 2020 - 9:10:13 PM
Long-term archiving on: : Saturday, May 5, 2018 - 7:31:31 PM

File

ar2017_final_proof.pdf
Files produced by the author(s)

Identifiers

Citation

Gabriel Bustamante, Patrick Danès, Thomas Forgue, Ariel Podlubne, Jérôme Manhes. An Information Based Feedback Control for Audio-Motor Binaural Localization. Autonomous Robots, Springer Verlag, 2018, 42 (2), pp.477-490. ⟨10.1007/s10514-017-9639-8⟩. ⟨hal-01710571⟩

Share

Metrics

Record views

210

Files downloads

290