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Robotics 2017, 6(2), 10;

Binaural Range Finding from Synthetic Aperture Computation as the Head is Turned

Environmental Research Institute, North Highland College, University of the Highlands and Islands, Thurso, Caithness KW14 7EE, UK
Academic Editor: Huosheng Hu
Received: 9 January 2017 / Revised: 22 March 2017 / Accepted: 14 April 2017 / Published: 19 April 2017
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A solution to binaural direction finding described in Tamsett (Robotics 2017, 6(1), 3) is a synthetic aperture computation (SAC) performed as the head is turned while listening to a sound. A far-range approximation in that paper is relaxed in this one and the method extended for SAC as a function of range for estimating range to an acoustic source. An instantaneous angle λ (lambda) between the auditory axis and direction to an acoustic source locates the source on a small circle of colatitude (lambda circle) of a sphere symmetric about the auditory axis. As the head is turned, data over successive instantaneous lambda circles are integrated in a virtual field of audition from which the direction to an acoustic source can be inferred. Multiple sets of lambda circles generated as a function of range yield an optimal range at which the circles intersect to best focus at a point in a virtual three-dimensional field of audition, providing an estimate of range. A proof of concept is demonstrated using simulated experimental data. The method enables a binaural robot to estimate not only direction but also range to an acoustic source from sufficiently accurate measurements of arrival time/level differences at the antennae. View Full-Text
Keywords: robotic sensing; acoustic localization; binaural systems; synthetic aperture robotic sensing; acoustic localization; binaural systems; synthetic aperture

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Tamsett, D. Binaural Range Finding from Synthetic Aperture Computation as the Head is Turned. Robotics 2017, 6, 10.

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