A Bayesian Binaural System for 3D Sound-Source Localisation

Abstract

auditory localisation in distance, azimuth and elevation using binaural cues only. We describe its supporting sensor model and calibration procedure. The 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. I.