NDLI: Saliency based sensor fusion of broadband sound localizer for humanoids

Content Provider	IEEE Xplore Digital Library
Author	Mosadeghzad, M. Rea, F. Tata, M.S. Brayda, L. Sandini, G.
Copyright Year	2015
Description	Author affiliation: Dept. of Robot., Brain & Cognitive Sci., Ist. Italiano di Tecnol., Genoa, Italy (Rea, F.; Brayda, L.; Sandini, G.) \|\| Canadian Centre for Behavioural Neurosci., Univ. of Lethbridge, Lethbridge, AB, Canada (Mosadeghzad, M.; Tata, M.S.)
Abstract	This work presents a biologically inspired solution to problems that arise in multisensory attention, with a specific application to binaural humanoid robotics. The focus was on using only two microphones as an analogy to mammalian auditory system. The goal was to localize a salient sound source and to fuse this information with a visual-salience feature selection system. We describe a method to select task-relevant sounds in the auditory scene using both interaural time difference (ITD), inspired by the work of Jeffress and Konishi in the avian auditory system. We modelled the well-studied coincidence detectors of the barn owl as banks of frequency-tuned delay-and-sum beamformers, with frequency decomposition based on a Gammatone model of the human cochlea. Furthermore, we developed a useful metric of auditory salience that emphasized onsets of spectrally complex sounds. Finally, we developed an interface between this auditory-salience based attention orienting system and an existing visual-salience based attention system on the iCub humanoid robot. We demonstrate that the iCub is capable of behaviours that would be impossible without fusion of auditory and visual attention.
Starting Page	362
Ending Page	367
File Size	1738422
Page Count	6
File Format	PDF
e-ISBN	9781479977727
DOI	10.1109/MFI.2015.7295835
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Microphones Robot sensing systems Acoustic beams Auditory system Humanoid robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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