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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
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Author to whom correspondence should be addressed.
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.
Academic Editor: Huosheng Hu
Robotics 2016, 5(3), 16; https://doi.org/10.3390/robotics5030016
Received: 16 June 2016 / Revised: 14 July 2016 / Accepted: 14 July 2016 / Published: 21 July 2016
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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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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