Gabriel Bustamante

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An unknown intermittent sound source, at rest or in motion, is considered. We describe an original method to detect its activity and determine its azimuth and range from a moving binaural sensor subject to measurement noise. The proposed source localization scheme is said “active”, as it combines the sensed binaural signals with the sensor motion. It is(More)
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 occurring in a static context: front-back confusion, non-observability of hidden variables, etc. A three-stage strategy is(More)
This paper takes place within the field of sound source localization by combining the signals sensed by a binaural head with its motor commands. Such so-called "active" schemes are known to overcome limitations occurring in the static context, such as front-back ambiguities or distance non-observability. On the basis of a stochastic filter, which(More)
This paper presents a strategy to the localization of multiple sound sources from a static binaural head. The sources are supposed W-Disjoint Orthogonal and their number is assumed known. Their most likely azimuths are computed by means of the Expectation-Maximization algorithm. Application of the method on simulated data is reported, as well as some(More)
Fundamental limitations of binaural localization, such as front-back ambiguity or distance non-observability, can be overcome by combining the sensed audio signals with the sensor motor commands into “active” schemes. Such strategies can rely on stochastic filtering. In this context, this paper addresses the determination of an admissible(More)
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