Binaural model for artificial spatial sound localization based on interaural time delays and movements of the interaural axis.
Binaural model for artificial spatial sound localization based on interaural time delays and movements of the interaural axis.
复制标题
基于耳间时间延迟和耳间轴运动的人工空间声音定位的双耳模型。
DOI：
10.1121/1.2977746
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
C. Baumann
中科院分区：
文献类型：
--
作者：
L. Kneip;C. Baumann
本文提出了一种利用至少具有两个自由度的双传声器装置进行空间声定位的数学模型。它证明了一系列的定理和引理，是基于到达时间差测量和运动的耳间轴，形成一个强大的工具，为实际的机器人应用。例如，它表明，一个单一的确定旋转的耳间轴是足够的，以准确地产生方位角或仰角的一个不动的声源在远场，独立于麦克风的间距和声速，因此周围的介质。它证明了在任何时刻，一个值的知识决定了另一个值的大小，限制条件是第二个值的符号是未定义的，这意味着，根据旋转，无论是后-前还是上下模糊度都没有得到解决。本文还表明，视差运动解锁声源的距离和笛卡尔坐标的基本信息。侧向移动麦克风系统固定了耳间轴上的距离和坐标。结合旋转和平移运动完全解决了定位问题。为了说明该模型的有效性，本文提出了一种低成本的机器人开发工具包，在此期间的方位角，仰角，和连续声源的距离分别确定在10度和0.5米的精度实验。使用低功耗材料实现此性能表明该模型可以轻松地应用于任何机器人系统。
This paper presents a mathematical model for sound localization in space using two-microphone devices that possess at least two degrees of freedom. It proves a series of theorems and lemmas that are based on time difference of arrival measurements and movements of the interaural axis, forming a powerful instrument for practical robot applications. For instance, it shows that a single determined rotation of the interaural axis is sufficient to exactly yield the azimuth or the elevation of an immobile sound source in the far field, independently of microphone spacing and the speed of sound and hence of the surrounding medium. It proves that at any moment the knowledge of one value determines the magnitude of the other, with the restriction that the sign of the second value is undefined, which means that, depending on the rotation, either the back-front or the up-down ambiguity is kept unsolved. This paper also shows that parallax motion unlocks essential information about the distance and the Cartesian coordinates of the sound source. Shifting the microphone system sideways fixes the distance and the coordinate on the interaural axis. Combining rotation and translation movements completely solves the localization problem. In order to illustrate the efficacy of the model, this paper presents experiments with a low cost robot developer kit during which the azimuth, the elevation, and the distance of continuous sound sources are determined at a precision of 10 degrees and 0.5 m, respectively. Achieving this performance with low power material demonstrates how easily the model can be implemented into any robotic system.
影响因子：
2.4
作者：
Datum, MS;Palmieri, F;Moiseff, A
通讯作者：
Moiseff, A