Audio-motor integration for robot audition

Abstract

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Acoustic Self-Awareness of Autonomous Systems in a World of Sounds

“…Most prominently, motor data are used, i.e., angle information collected by proprioceptors of joints or rotation speed of motors, therefore immediately describing the primary source of ego-noise. Integrating motor data to the audio processing pipeline is generally referred to as audio-motor integration [173] and corresponding methods will be discussed in Section III-C.…”

“…In [173], dynamic binaural cues are proposed, which explicitly require a head rotation for computation if the acoustic scene is assumed to be static. For a head rotation with constant speed, the dynamic cue is assumed to be specific for a certain source position.…”