A new method for binaural 3-D localization based on HRTFs

A modern technique for robotic sound source detection using a dataset Head-Related Transfer Functions (HRTFs) is presented. To ensure fast detection, the HRTFs are reduced using three different techniques, namely; Diffuse-Field Equalization, Balanced Model Truncation, and Principle Component Analysis. A new criterion introduced is to be satisfied by a set of output signals from the microphones of a dummy robot head. This criterion is then used to find the sound source location in accordance with the reduced HRTF datasets. The suggested method is verified through simulated examples and further tested in a household environment. This novel technique provides estimates of azimuth and elevation angles in free space by using only two microphones. It also uses a simple algorithm compared to the more complicated algorithms used in similar localization processes.