Active audition using the parameter-less self-organising map

Authors:
Erik Berglund;Joaquin Sitte;Gordon Wyeth
Affiliations:
School of Information Technology and Electrical Engineering, University of Queensland, Brisbane, Australia;School of Software Engineering and Data Communication, Queensland University of Technology, Brisbane, Australia;School of Information Technology and Electrical Engineering, University of Queensland, Brisbane, Australia
Venue:
Autonomous Robots
Year:
2008

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Abstract

This paper presents a novel method for enabling a robot to determine the position of a sound source in three dimensions using just two microphones and interaction with its environment. The method uses the Parameter-Less Self-Organising Map (PLSOM) algorithm and Reinforcement Learning (RL) to achieve rapid, accurate response. We also introduce a method for directional filtering using the PLSOM. The presented system is compared to a similar system to evaluate its performance.