Martin Heckmann, Tobias Rodemann, Frank Joublin, Christian Goerick, Björn Schölling, "Auditory Inspired Binaural Robust Sound Source Localization in Echoic and Noisy Environments", Proceedings of the IEEE/RSJ International Conference on Robots and Intelligent Systems (IROS), pp. 368-373, 2006.

We propose a new approach for binaural sound source localization in real world environments implementing a new model of the precedence effect. This enables the robust measurement of the localization cue values (ITD, IID and IED) in echoic environments. The system is inspired by the auditory system of mammals. It uses a Gammatone filter bank for preprocessing and extracts the ITD and IED cues via zero crossings (IID calculation is straight forward). The mapping between the cue values and the different angles is learned offline which facilitates the adaptation to different head geometries. The performance of the system is demonstrated by localization results for two simultaneous speakers and the mixture of a speaker, music, and fan noise in a normal meeting room. A real time demonstrator of the system is presented in [Rodemann06].