Robotic sound source localisation algorithm with cues selection mechanism

A biologically inspired algorithm for sound source localisation is proposed to effectively guide a robotic dog, AIBO^reg (ERS-7, SONY, Tokyo, Japan), with only a pair of microphones. Specifically, a new head model was built for the selected robot and the mechanism of binaural cues selection observed in the mammalian hearing system was applied to mitigate the effects of sound echoes. Experimental results demonstrate the superior performance of the proposed method.