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For sound localization methods to be useful in realtime scenarios, the processing power requirements must be low enough to allow real time processing of audio inputs. we propose a new binaural sound source localization technique based on using only two microphones placed inside the ear canal of a robot dummy head. The head is equipped with artificial ears and is mounted on a torso. In contrast to existing 3D sound source localization methods using microphone arrays, the novel method presented employs only two microphone and is based on a simple correlation approach using a generic set of HRTFs. The proposed method is demonstrated through simulation and is further tested in a household environment. This set up proves to be very noise-tolerant and is able to localize sound sources in free space with high precision.

An algorithm for real time humanoid sound localization and tracking using only two microphones in a highly reverberant environment is proposed. Several recently developed 3D humanoid sound localization algorithms require the environment to be anechoic. Also, the resolution of front-back ambiguity problem during sound localization requires the knowledge about the reference signals. Using HRTF based sound localization together with extended kalman filtering, we are able to accurately track moving sound sources in real time in a highly reverberant environment. This algorithm uses only two microphones and requires no prior knowledge of the reference signals.

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