This paper takes place within the field of active sound source localization in a binaural context. A stochastic filtering strategy is presented for the localization of a still or moving source from a moving binaural sensor. The proposed method accounts for the source intermittence as well as for false measurements induced by the non-stationarity of the emitted signal. Its effectiveness is showed on experimental results.

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This paper takes place within the field of binaural localization in robotics. The aim is to design "active" schemes, which combine the signals sensed by a binaural head with its motor commands so as to overcome limitations occuring in a static context: front-back confusion, non-observability of hidden variables, etc. A three-stage strategy is proposed, which entails: the short-term detection and localization of sources from the short-term analysis of the binaural stream; the assimilation of these data over time and the fusion with the motor commands of the binaural sensor; the improvement of this fusion through the feedback control of the binaural sensor. For each stage, the theoretical bases, some achievements and open problems are outlined.