Estimating speaker direction on a humanoid robot with binaural acoustic signals

Pranav Barot, Katja Mombaur and Ewen N MacDonald

PLOS ONE, 2024, vol. 19, issue 1, 1-27

Abstract: To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA) estimation, while also considering real-time applications for human-robot interaction scenarios. This method is applied to binaural sound source localization framework on a humanoid robotic head. Real data is collected and annotated for this work. Optimizations are performed via a brute force method and a Bayesian model based method, results are validated and discussed, and effects on latency for real-time use are also explored.

Date: 2024
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Persistent link: https://EconPapers.repec.org/RePEc:plo:pone00:0296452

DOI: 10.1371/journal.pone.0296452

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