Synthetic Aperture Computation as the Head is Turned in Binaural Direction Finding

2017

Robotics

Self Cite

A solution to binaural direction finding described in Tamsett (Robotics 2017, 6(1), 3) is a synthetic aperture computation (SAC) performed as the head is turned while listening to a sound. A far-range approximation in that paper is relaxed in this one and the method extended for SAC as a function of range for estimating range to an acoustic source. An instantaneous angle λ (lambda) between the auditory axis and direction to an acoustic source locates the source on a small circle of colatitude (lambda circle) of a sphere symmetric about the auditory axis. As the head is turned, data over successive instantaneous lambda circles are integrated in a virtual field of audition from which the direction to an acoustic source can be inferred. Multiple sets of lambda circles generated as a function of range yield an optimal range at which the circles intersect to best focus at a point in a virtual three-dimensional field of audition, providing an estimate of range. A proof of concept is demonstrated using simulated experimental data. The method enables a binaural robot to estimate not only direction but also range to an acoustic source from sufficiently accurate measurements of arrival time/level differences at the antennae.

Section: Arrival Time Difference Angle To Acoustic Source and Rangementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Binaural Range Finding from Synthetic Aperture Computation as the Head is Turned

2017

Robotics

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The Binaural Illusion of Wallach (1940) Apparent in Synthetic Aperture Images of the Field of Audition Generated as the Head Turns

2021

Acoustics

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Wallach (J. Exp. Psychol. 1940, 27, 339–368) predicted that a human subject rotating about a vertical axis through the auditory centre, having an acoustic source rotating around the same axis at twice the rotation rate of the human subject, would perceive the acoustic source to be stationary. His prediction, as confirmed by the experiment, was made to test the hypothesis that humans integrate head movement information that is derived from the vestibular system and visual cues, with measurements of arrival time differences between the acoustic signals received at the ears, to determine directions to acoustic sources. The simulation experiments described here demonstrate that a synthetic aperture calculation performed as the head turns, to determine the direction to an acoustic source (Tamsett, Robotics 2017, 6, 10), is also subject to the Wallach illusion. This constitutes evidence that human audition deploys a synthetic aperture process in which a virtual image of the field of audition is populated as the head turns, and from which directions to acoustic sources are inferred. The process is akin to those in synthetic aperture sonar/radar technologies and to migration in seismic profiler image processing. It could be implemented in a binaural robot localizing acoustic sources from arrival time differences in emulation of an aspect of human audition.

Binaural Synthetic Aperture Imaging of the Field of Audition as the Head Rotates and Localisation Perception of Monophonic Sound Listened to through Headphones

2021

Acoustics

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A human listening to monophonic sound through headphones perceives the sound to emanate from a point inside the head at the auditory centre at effectively zero range. The extent to which this is predicted by synthetic-aperture calculation performed in response to head rotation is explored. The instantaneous angle between the auditory axis and the acoustic source, lambda, for the zero inter-aural time delay imposed by headphones is 90°. The lambda hyperbolic cone simplifies to the auditory median plane, which intersects a spherical surface centred on the auditory centre, along a prime meridian lambda circle. In a two-dimensional (2-D) synthetic-aperture computation, points of intersection of all lambda circles as the head rotates constitute solutions to the directions to acoustic sources. Geometrically, lambda circles cannot intersect at a point representing the auditory centre; nevertheless, 2-D synthetic aperture images for a pure turn of the head and for a pure lateral tilt yield solutions as pairs of points on opposite sides of the head. These can reasonably be interpreted to be perceived at the sums of the position vectors of the pairs of points on the acoustic image, i.e., at the auditory centre. But, a turn of the head on which a fixed lateral tilt of the auditory axis is concomitant (as in species of owl) yields a 2-D synthetic-aperture image without solution. However, extending a 2-D synthetic aperture calculation to a three-dimensional (3-D) calculation will generate a 3-D acoustic image of the field of audition that robustly yields the expected solution.