Servostyrning med binaural ljudlokalisering
Binaural ljudlokaliseringKorskorrelationSound source localizationInteraural time delayJetspark RoboticsBinaural ljudlokaliseringKorskorrelation
People are usually directed towards each other in conversations, to make it easier to hear what is being said. Algorithms for voice and speech recognition works in a similar way, regarding the microphone direction towards the sound source. In this thesis in electronics has therefore a servo control with binaural sound localization been implemented on a microcontroller connected to two microphones.When people perceive sound, the brain can estimate the sound source direction by comparing the time taken by the sound reaching one ear to the other [1]. The difference in time is called the interaural time difference, and can be calculated using various techniques. An exploratory comparison between the techniques cross-correlation and cross-spectrum analysis was carried out before implementation. Advantages and disadvantages of each technique were evaluated at the same time.The result is a functioning servo control, that uses a cross correlation algorithm to calculate the interaural time difference, and controls a servo motor towards the sound source with a P-regulated error reduction method. The project was implemented on the microcontroller ATmega328P from Atmel without using floating point calculations.The thesis was carried out on behalf of the company Jetspark Robotics.