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Robotics 2016, 5(3), 16; doi:10.3390/robotics5030016

Room Volume Estimation Based on Ambiguity of Short-Term Interaural Phase Differences Using Humanoid Robot Head

1
College of Industrial Technology, Nihon University, Tokyo 275-8575, Japan
2
System Research Division Image Information Systems Laboratory, Canon Electronics Inc., Tokyo 105-0011, Japan
This paper is an extended version of our paper published in Proceedings of the 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), Smolenice, Slovakia, 3–5 September 2014.
*
Author to whom correspondence should be addressed.
Academic Editor: Huosheng Hu
Received: 16 June 2016 / Revised: 14 July 2016 / Accepted: 14 July 2016 / Published: 21 July 2016
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Abstract

Humans can recognize approximate room size using only binaural audition. However, sound reverberation is not negligible in most environments. The reverberation causes temporal fluctuations in the short-term interaural phase differences (IPDs) of sound pressure. This study proposes a novel method for a binaural humanoid robot head to estimate room volume. The method is based on the statistical properties of the short-term IPDs of sound pressure. The humanoid robot turns its head toward a sound source, recognizes the sound source, and then estimates the ego-centric distance by its stereovision. By interpolating the relations between room volume, average standard deviation, and ego-centric distance experimentally obtained for various rooms in a prepared database, the room volume was estimated by the binaural audition of the robot from the average standard deviation of the short-term IPDs at the estimated distance. View Full-Text
Keywords: room volume; estimation; short-term IPD; biologically inspired; binaural audition; humanoid robot room volume; estimation; short-term IPD; biologically inspired; binaural audition; humanoid robot
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Shimoyama, R.; Fukuda, R. Room Volume Estimation Based on Ambiguity of Short-Term Interaural Phase Differences Using Humanoid Robot Head. Robotics 2016, 5, 16.

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