A Bayesian Binaural System for 3D Sound-Source Localisation

Abstract : In this text we present a Bayesian system of 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.