Skip to Main content Skip to Navigation
Conference papers

Towards information-based feedback control for binaural active localization

Gabriel Bustamante 1 Patrick Danès 1 Thomas Forgue 1 Ariel Podlubne 1
1 LAAS-RAP - Équipe Robotique, Action et Perception
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This paper takes place within the field of sound source localization by combining the signals sensed by a binaural head with its motor commands. Such so-called "active" schemes are known to overcome limitations occurring in the static context, such as front-back ambiguities or distance non-observability. On the basis of a stochastic filter, which approximates the posterior probability density function of the sensor-to-source situation, a feedback controller of the sensor motion is proposed so as to reduce the associated uncertainty. An information-theoretic analysis of the effect of the sensor motion on the localization uncertainty is first conducted. Then, a gradient ascent scheme is used to drive the head towards the area of minimum uncertainty (maximum information). An evaluation on simulated scenarios, as well as on data coming from real experiments, is included.
Complete list of metadatas

Cited literature [21 references]  Display  Hide  Download

https://hal.laas.fr/hal-01969304
Contributor : Patrick Danes <>
Submitted on : Thursday, January 3, 2019 - 11:51:33 PM
Last modification on : Friday, January 10, 2020 - 9:10:11 PM
Long-term archiving on: : Thursday, April 4, 2019 - 4:10:42 PM

File

icassp2016_definitif.pdf
Files produced by the author(s)

Identifiers

Citation

Gabriel Bustamante, Patrick Danès, Thomas Forgue, Ariel Podlubne. Towards information-based feedback control for binaural active localization. IEEE International Conference on Acoustics, Speech and Signal Processing, Mar 2016, Shanghai, China. 5p., ⟨10.1109/ICASSP.2016.7472894⟩. ⟨hal-01969304⟩

Share

Metrics

Record views

69

Files downloads

171