ADVANCES IN SOUND LOCALIZATION Edited by Paweł Strumiłło Advances in Sound Localization Edited by Paweł Strumiłło Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2011 InTech All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Ivana Lorkovic Technical Editor Teodora Smiljanic Cover Designer Martina Sirotic Image Copyright 2010. Used under license from Shutterstock.com First published March, 2011 Printed in India A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Advances in Sound Localization, Edited by Paweł Strumiłło p. cm. ISBN 978-953-307-224-1 free online editions of InTech Books and Journals can be found at www.intechopen.com Part 1 Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Chapter 6 Part 2 Chapter 7 Preface XI Signal Processing Techniques for Sound Localization 1 The Linear Method for Acoustical Source Localization (Constant Speed Localization Method) - A Discussion of Receptor Geometries and Time Delay Accuracy for Robust Localization 3 Sergio R. Buenafuente and Carmelo M. Militello Direction-Selective Filters for Sound Localization 19 Dean Schmidlin Single-Channel Sound Source Localization Based on Discrimination of Acoustic Transfer Functions 39 Ryoichi Takashima, Tetsuya Takiguchi and Yasuo Ariki Localization Error: Accuracy and Precision of Auditory Localization 55 Tomasz Letowski and Szymon Letowski HRTF Sound Localization 79 Martin Rothbucher, David Kronmüller, Marko Durkovic, Tim Habigt and Klaus Diepold Effect of Space on Auditory Temporal Processing with a Single-Stimulus Method 95 Martin Roy, Tsuyoshi Kuroda and Simon Grondin Sound Localization Systems 105 Sound Source Localization Method Using Region Selection 107 Yong-Eun Kim, Dong-Hyun Su, Chang-Ha Jeon, Jae-Kyung Lee, Kyung-Ju Cho and Jin-Gyun Chung Contents Contents VI Robust Audio Localization for Mobile Robots in Industrial Environments 117 Manuel Manzanares, Yolanda Bolea and Antoni Grau Source Localization for Dual Speech Enhancement Technology 141 Seungil Kim, Hyejeong Jeon, and Lag-Young Kim Underwater Acoustic Source Localization and Sounds Classification in Distributed Measurement Networks 157 Octavian Adrian Postolache, José Miguel Pereira and Pedro Silva Girão Using Virtual Acoustic Space to Investigate Sound Localisation 179 Laura Hausmann and Hermann Wagner Sound Waves Generated Due to the Absorption of a Pulsed Electron Beam 199 A. Pushkarev, J. Isakova, G. Kholodnaya and R. Sazonov Auditory Interfaces for Enhancing Human Perceptive Abilities 223 Spatial Audio Applied to Research with the Blind 225 Brian FG Katz and Lorenzo Picinali Sonification of 3D Scenes in an Electronic Travel Aid for the Blind 251 Michal Bujacz, Michal Pec, Piotr Skulimowski, Pawel Strumillo and Andrzej Materka Virtual Moving Sound Source Localization through Headphones 269 Larisa Dunai, Guillermo Peris-Fajarnés, Teresa Magal-Royo, Beatriz Defez and Victor Santiago Praderas Unilateral Versus Bilateral Hearing Aid Fittings 283 Monique Boymans and Wouter A. Dreschler Auditory Guided Arm and Whole Body Movements in Young Infants 297 Audrey L.H. van der Meer and F.R. (Ruud) van der Weel Chapter 8 Chapter 9 Chapter 10 Chapter 11 Chapter 12 Part 3 Chapter 13 Chapter 14 Chapter 15 Chapter 16 Chapter 17 Contents VII Spatial Sounds in Multimedia Systems and Teleconferencing 315 Camera Pointing with Coordinate-Free Localization and Tracking 317 Evan Ettinger and Yoav Freund Sound Image Localization on Flat Display Panels 343 Gabriel Pablo Nava, Yoshinari Shirai, Kaji Katsuhiko, Masafumi Matsuda, Keiji Hirata and Shigemi Aoyagi Backward Compatible Spatialized Teleconferencing based on Squeezed Recordings 363 Christian H. Ritz, Muawiyath Shujau, Xiguang Zheng, Bin Cheng, Eva Cheng and Ian S Burnett Applications in Biomedical and Diagnostic Studies 385 Neurophysiological Correlate of Binaural Auditory Filter Bandwidth and Localization Performance Studied by Auditory Evoked Fields 387 Yoshiharu Soeta and Seiji Nakagawa Processing of Binaural Information in Human Auditory Cortex 407 Blake W. Johnson The Impact of Stochastic and Deterministic Sounds on Visual, Tactile and Proprioceptive Modalities 431 J.E. Lugo, R. Doti and J. Faubert Discrete Damage Modelling for Computer Aided Acoustic Emissions in Health Monitoring 459 Antonio Rinaldi, Gualtiero Gusmano and Silvia Licoccia Sound Localization in Animal Studies 475 Comparative Analysis of Spatial Hearing of Terrestrial, Semiaquatic and Aquatic Mammals 477 Elena Babushina and Mikhail Polyakov Directional Hearing in Fishes 493 Richard R. Fay Frequency Dependent Specialization for Processing Binaural Auditory Cues in Avian Sound Localization Circuits 513 Rei Yamada and Harunori Ohmori Part 4 Chapter 18 Chapter 19 Chapter 20 Part 5 Chapter 21 Chapter 22 Chapter 23 Chapter 24 Part 6 Chapter 25 Chapter 26 Chapter 27 Contents VIII Highly Defined Whale Group Tracking by Passive Acoustic Stochastic Matched Filter 527 Frédéric Bénard, Hervé Glotin and Pascale Giraudet Localising Cetacean Sounds for the Real-Time Mitigation and Long-Term Acoustic Monitoring of Noise 545 Michel André, Ludwig Houégnigan, Mike van der Schaar, Eric Delory, Serge Zaugg, Antonio M. Sánchez and Alex Mas Sound Localisation in Practice: An Application in Localisation of Sick Animals in Commercial Piggeries 575 Vasileios Exadaktylos, Mitchell Silva, Sara Ferrari, Marcella Guarino and Daniel Berckmans Chapter 28 Chapter 29 Chapter 30 [...]... Signal Processing Letters 15 : 1 4 H.C.Schau & Robinson, A (19 87) Passive source localization employing intersecting spherical surfaces from time–or–arrival differences, IEEE Trans Acoust., Speech, Signal Processing ASSP–35: 12 23 12 25 18 Advances in Sound Localization Huang, Y., Benesty, J & Elko, G W (2000) Passive acoustic source localization for video camera steering, ICASSP ’00: Proceedings of the... with r = 10 , 20, 30 and 40 meters and TDOA uncertainties of 0. 01, 0 .1, 1 and 3 3 3 10 microseconds, by using Equation 28 the relative positioning error is computed The results are plotted in Figure 11 For 1 s uncertainty the relative error in localizing a source at 20 m is 30% That is 6 m It can be seen that in order to reduce the localization uncertainty one order of magnitude, the TDOA uncertainty must... author (2 010 b) that the null directions are given by u = ( u 1 cos ζ + u 2 sin ζ ) 1 − b 2 + bu L (11 ) ⎡ cosθ L sin φL ⎤ u L = ⎢ sin θ L sin φL ⎥ ⎢ ⎥ ⎢ cos φL ⎥ ⎣ ⎦ (12 ) ⎡ cosθ L cos φL ⎤ ⎡ − sin θL ⎤ u 1 = ⎢ sin θ L cos φL ⎥ , u 2 = ⎢ cosθ L ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ − sin φL ⎥ ⎢ 0 ⎥ ⎣ ⎦ ⎣ ⎦ (13 ) where 0 ≤ ζ < 2π and The unit-vectors u 1 , u 2 , u L define the coordinate axes of a new rectangular coordinate system... TDOA uncertainties of 0. 01, 0 .1, 1 and 10 microseconds are considered for source distances of 10 , 20, 30 and 40 m The Linear Method for Acoustical Source Localization (Constant Speed Localization Method) - A Discussion of Receptor Geometries and Time Delay Accuracy for Robust Localization 15 The starting experimental setting is a tetrahedron array with 1m side For a source position 1 1 1 at r [ √ ,... purposes In Part III applications of SSL techniques are covered that are aimed at enhancing human perception abilities Applications include: aiding the blind in spatial orientation by means of auditory display systems and investigation on how bilateral hearing fittings improve spatial hearing The part is concluded by studies underlining the importance of auditory information for environmental awareness in infants... Fig 12 Relative localization error for a 0. 01, 0 .1, 1 and 10 meters tetrahedron array side TDOA uncertainties of 0. 01, 0 .1, 1 and 10 microseconds are considered for source distance of 10 m 7.3 The experiment For the experiments a tetrahedron of 4m side has been constructed The microphones used are of the ICP type The signal conditioning is a PCB with a low pass filter set at 10 Khz A KHEITLEY USB ®, 16 ... has the value 6.02 dB The input-output equation (7) together with Eq (9) define a spatial filter The filter is centered in the direction u L In this paper, the function gu L (ψ ) will be called the discriminating function because it favors a plane wave traveling in the look direction while tending to discriminate against plane waves moving in other directions The discriminating function is a function... Poland XIII Part 1 Signal Processing Techniques for Sound Localization 1 The Linear Method for Acoustical Source Localization (Constant Speed Localization Method) - A Discussion of Receptor Geometries and Time Delay Accuracy for Robust Localization Sergio R Buenafuente and Carmelo M Militello University of La Laguna (ULL) Spain 1 Introduction One of the most widely used methodology for the passive localization. .. arrival, ICASSP ’05: Proceedings of the Acoustics, Speech, and Signal Processing, 2005 on IEEE International Conference, IEEE Computer Society, Washington, DC, USA, pp IV9 61 IV964 2 Direction-Selective Filters for Sound Localization Dean Schmidlin El Roi Analytical Services United States of America 1 Introduction An important problem in sound localization is the determination of the polar and azimuthal... arrangement size Assuming that the arrangement dimensions can be chosen freely Equation 28 is now computed for the same values of TDOA uncertainties but changing the tetrahedron sides to 0. 01, 0 .1, 1 and 10 meters The source is placed at 20 metres Results are plotted in Figure 12 For the same value of TDOA uncertainties, increasing the side one order of magnitude reduces the localization error in two orders . 9 Chapter 10 Chapter 11 Chapter 12 Part 3 Chapter 13 Chapter 14 Chapter 15 Chapter 16 Chapter 17 Contents VII Spatial Sounds in Multimedia Systems and Teleconferencing 315 Camera Pointing with Coordinate-Free Localization. March, 2 011 Printed in India A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Advances in Sound Localization, . ADVANCES IN SOUND LOCALIZATION Edited by Paweł Strumiłło Advances in Sound Localization Edited by Paweł Strumiłło Published by InTech Janeza Trdine 9, 510 00 Rijeka, Croatia Copyright © 2 011