"Binaural sound source localization in humanoid ""bert"" robot"

Kim, John H

Permalink

https://hdl.handle.net/2142/97367 Copy

Description

Title

"Binaural sound source localization in humanoid ""bert"" robot"

Author(s)

Kim, John H

Issue Date

2017-04-19

Director of Research (if dissertation) or Advisor (if thesis)

Levinson, Stephen

Department of Study

Electrical & Computer Eng

Discipline

Electrical & Computer Engr

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Keyword(s)

• Sound
• Source
• Localization
• Bert
• Binaural
• Location
• Difference
• Interaural intensity difference (ILD)
• Interaural time difference (ITD)

Abstract

This thesis explores the models and implementations of binaural sound source location and seeks to implement known and current methods within an existing robotic environment. The two primary methods of sound localization are interaural intensity difference and interaural time difference, also known as ILD and ITD, and they are discussed with their unique advantages and disadvantages and dependency upon each other to produce a meaningful location and output. Within Bert, an iCub humanoid robotic platform, the discussed methods for locating sounds are applied and experimented on to observe their accuracy and usefulness. This specific environment produces the challenge of a being a binaural system, limiting sound input capability to two inputs, along with a relatively noisy environment and limited hardware capabilities. Nonetheless, this development of a sound localization framework in Bert is done with future development in mind, as his pending hardware upgrade alone will allow for a great improvement in accuracy and precision.

Graduation Semester

2017-05

Type of Resource

text

Permalink

http://hdl.handle.net/2142/97367

Copyright and License Information

Copyright 2017 John H. Kim

Owning Collections