Real-time neuro-inspired sound source localization and tracking architecture applied to a robotic platform
| Autor: | Arturo Morgado-Estevez, Rafael Paz Vicente, Gabriel Jiménez Moreno, Elena Cerezuela Escudero, Fernando Pérez Peña, Angel Jimenez-Fernandez |
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| Přispěvatelé: | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores, Universidad de Sevilla. TEP-108: Robótica y Tecnología de Computadores Aplicada a la Rehabilitación |
| Rok vydání: | 2018 |
| Předmět: |
Sound localization
0209 industrial biotechnology Computer science Cognitive Neuroscience Spike signal processing 02 engineering and technology Neurorobotics 020901 industrial engineering & automation Artificial Intelligence 0202 electrical engineering electronic engineering information engineering medicine Auditory system Computer vision FPGA Interaural intensity difference business.industry Acoustic source localization Computer Science Applications medicine.anatomical_structure Neuromorphic engineering 020201 artificial intelligence & image processing Spike (software development) Artificial intelligence business Binaural recording Neuromorphic auditory sensor |
| Zdroj: | idUS. Depósito de Investigación de la Universidad de Sevilla instname |
| ISSN: | 0925-2312 |
| DOI: | 10.1016/j.neucom.2017.12.041 |
| Popis: | This paper proposes a real-time sound source localization and tracking architecture based on the abilityof the mammalian auditory system using the interaural intensity difference. We used an innovative bin- aural Neuromorphic Auditory Sensor to obtain spike rates similar to those generated by the inner haircells of the human auditory system. The design of the component that obtains the interaural intensitydifference is inspired by the lateral superior olive. The spike stream that represents the IID is used toturn a robotic platform towards the sound source direction. The architecture was implemented on FPGAdevices using general purpose FPGA resources and was tested with pure tones (1-kHz, 2.5-kHz and 5-kHzsounds) with an average error of 2.32 °. Our architecture demonstrates a potential practical application of sound localization for robots, and can be used to test paradigms for sound localization in the mammalianbrain. Ministerio de Economía y Competitividad TEC2016-77785-P |
| Databáze: | OpenAIRE |
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