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oai:gredos.usal.es:10366/1604272025-04-30T20:41:09Zcom_10366_153080com_10366_4512com_10366_3823col_10366_153081

00925njm 22002777a 4500 dc Liu, Jindong author Pérez González, David author Rees, Adrian author Erwin, Harry author Wermter, Stefan author rees author 2009-07-31 This paper proposes a spiking neural network (SNN) of the mammalian auditory midbrain to achieve binaural sound source localisation with a mobile robot. The network is inspired by neurophysiological studies on the organisation of binaural processing in the medial superior olive (MSO), lateral superior olive (LSO) and the inferior colliculus (IC) to achieve a sharp azimuthal localisation of sound source over a wide frequency range in situations where there is auditory clutter and reverberation. Three groups of artificial neurons are constructed to represent the neurons in the MSO, LSO and IC that are sensitive to interaural time difference (ITD), interaural level difference (ILD) and azimuth angle respectively. The ITD and ILD cues are combined in the IC using Bayes's theorem to estimate the azimuthal direction of a sound source. Two of known IC cells, onset and sustained-regular are modelled. The azimuth estimations at different robot positions are then used to calculate the sound source position by a triangulation method using an environment map constructed by a laser scanner. The experimental results show that the addition of ILD information significantly increases sound localisation performance at frequencies above 1 kHz. The mobile robot is able to localise a sound source in an acoustically cluttered and reverberant environment. Liu, J., Pérez-González, D., Rees, A., Erwin, H., and Wermter, S. (2009). A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environments. in International Joint Conference on Neural Networks (IJCNN) (Atlanta, GA), 1855–1862. doi:10.1109/IJCNN.2009.5178672. 1098-7576 http://hdl.handle.net/10366/160427 10.1109/IJCNN.2009.5178672 Spiking neural network Sound localisation Inferior colliculus Interaural time difference Interaural level difference Mobile robotics A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environments