Implementation and calibration of a Bayesian binaural system for 3D localisation

Authors:
Joao Filipe Ferreira;Catia Pinho;Jorge Dias
Affiliations:
ISR - Institute of Systems and Robotics, FCT-University of Coimbra, Portugal;ISR - Institute of Systems and Robotics, FCT-University of Coimbra, Portugal;ISR - Institute of Systems and Robotics, FCT-University of Coimbra, Portugal
Venue:
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Year:
2009

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Abstract

In this text we present a Bayesian system of auditory localisation in distance, azimuth and elevation using binaural cues only; we focus mainly on implementation details and the calibration procedure, and present experimental results. This binaural system is also integrated in a spatial representation framework for multimodal perception of 3D structure and motion — the Bayesian Volumetric Map (BVM). This solution will enable the implementation of an active perception system with great potential in applications as diverse as social robots or even robotic navigation.