Information-based source localization with distinct binaural cues
Résumé
Audio-motor binaural localization algorithms, which combine directional cues extracted from the sensed signals with the motion of the sensor, are known to overcome shortcomings such as font-back ambiguity and source range non-observability. They can be improved by closing the loop from their output to the control inputs of the sensor, i.e., the sensor motor commands. This paper presents an approach, coined "information-based feedback control", which drives in real time a binaural head so as to gather information on the location of a static source. On the one hand, a "greedy" approach moves the head to its next best position. On the other hand, a multi-step ahead scheme determines its most effective path over a receding horizon of size N, by reasoning on average over yet uncollected audio data. Both methods internally entail the prediction of binaural cues, e.g., ITDs, ILDs or a combination of both. Some results can be given an elegant commonsense interpretation.
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