title: Robust and low complexity localization algorithm based on head-related impulse responses and interaural time difference.
abstract: This article introduces a biologically inspired localization algorithm using two microphones, for a mobile robot. The proposed algorithm has two steps. First, the coarse azimuth angle of the sound source is estimated by cross-correlation algorithm based on interaural time difference. Then, the accurate azimuth angle is obtained by cross-channel algorithm based on head-related impulse responses. The proposed algorithm has lower computational complexity compared to the cross-channel algorithm. Experimental results illustrate that the localization performance of the proposed algorithm is better than those of the cross-correlation and cross-channel algorithms.
authors.affiliation: College of Telecommunication and Information Engineering, Nanjing University of Posts and Telecommunications, 210003 Nanjing, China. wanxw@njupt.edu.cn
authors.forename: Xinwang
authors.initials: X
authors.lastname: Wan
authors.forename: Juan
authors.initials: J
authors.lastname: Liang
mesh_terms: D000162:Acoustics / Q000295:instrumentation*; D000465:Algorithms; D003198:Computer Simulation; D004867:Equipment Design; D008962:Models, Theoretical; D009038:Motion; D012371:Robotics / Q000295:instrumentation*; D012815:Signal Processing, Computer-Assisted; D059629:Signal-To-Noise Ratio; D013016:Sound; D013997:Time Factors; D014159:Transducers; D014732:Vibration