Active localization of an intermittent sound source from a moving binaural sensor

Alban Portello 1 Gabriel Bustamante 1 Patrick Danès 1 Jonathan Piat 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 : An unknown intermittent sound source, at rest or in motion, is considered. We describe an original method to detect its activity and determine its azimuth and range from a moving binaural sensor subject to measurement noise. The proposed source localization scheme is said "active", as it combines the sensed binaural signals with the sensor motion. It is composed of two stages: first, a pseudo-likelihood of the source azimuth is defined from the short-term time-frequency analysis of the binaural signals, and the source activity is detected by means of statistical identification; then, this information brought by the binaural signals is assimilated over time and fused with the sensor motor commands into a stochastic filtering strategy entailing a bank of noninteractive unscented Kalman filters. The method enjoys several important features. On the one hand, it is endowed with self-initialization and ensures the consistency of the covariances of the estimation errors. On the other hand, it can rigorously handle the effects induced by scatterers by explicitly exploiting the HRTFs to the microphones. A validation on simulated scenarios as well as on data coming from real experiments is included. This work has been partially supported by the EU FP7 FET-Open TWO!EARS project (2014-2016), whose goal is to develop a computational model of auditory perception and experience, in which binaural bottom up processing is interwoven with action and with top-down feedbacks originating from cortical levels. It takes place at the sensorimotor (reflex) level of this architecture. Current work concerns its extension to the multiple source case and to the definition of active motions which can improve perception.
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Alban Portello, Gabriel Bustamante, Patrick Danès, Jonathan Piat, Jérôme Manhes. Active localization of an intermittent sound source from a moving binaural sensor. European Acoustics Association Forum Acusticum, Sep 2014, Krakov, Poland. 12p. ⟨hal-01969308⟩

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