A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environments

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 superi...

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Detalles Bibliográficos
Autores: Liu, Jindong, Pérez González, David, Rees, Adrian, Erwin, Harry, Wermter, Stefan, rees
Tipo de recurso: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2009
País:España
Institución:Universidad de Salamanca (USAL)
Repositorio:GREDOS. Repositorio Institucional de la Universidad de Salamanca
OAI Identifier:oai:gredos.usal.es:10366/160427
Acceso en línea:http://hdl.handle.net/10366/160427
Access Level:acceso abierto
Palabra clave:Spiking neural network
Sound localisation
Inferior colliculus
Interaural time difference
Interaural level difference
Mobile robotics
Neural Networks (Computer)
Sound Localization
Inferior Colliculi
2490 Neurociencias
2411.13 Fisiología de la Audición
colículos inferiores
localización del sonido
redes neuronales (ordenador)
id ES_05967fa64abf833efbb459cef196c2de
oai_identifier_str oai:gredos.usal.es:10366/160427
network_acronym_str ES
network_name_str España
repository_id_str
spelling A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environmentsLiu, JindongPérez González, DavidRees, AdrianErwin, HarryWermter, StefanreesSpiking neural networkSound localisationInferior colliculusInteraural time differenceInteraural level differenceMobile roboticsNeural Networks (Computer)Sound LocalizationInferior Colliculi2490 Neurociencias2411.13 Fisiología de la Audicióncolículos inferioreslocalización del sonidoredes neuronales (ordenador)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.Engineering & Physical Sciences Research Council, UK (EPSRC)IEEE202420242009info:eu-repo/semantics/articleinfo:eu-repo/semantics/acceptedVersionhttp://hdl.handle.net/10366/160427reponame:GREDOS. Repositorio Institucional de la Universidad de Salamancainstname:Universidad de Salamanca (USAL)InglésEPSRC (EP/D055466)EPSRC (EP/D060648)CC0 1.0 Universalhttp://creativecommons.org/publicdomain/zero/1.0/info:eu-repo/semantics/openAccessoai:gredos.usal.es:10366/1604272026-06-07T06:28:51Z
dc.title.none.fl_str_mv A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environments
title A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environments
spellingShingle A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environments
Liu, Jindong
Spiking neural network
Sound localisation
Inferior colliculus
Interaural time difference
Interaural level difference
Mobile robotics
Neural Networks (Computer)
Sound Localization
Inferior Colliculi
2490 Neurociencias
2411.13 Fisiología de la Audición
colículos inferiores
localización del sonido
redes neuronales (ordenador)
title_short A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environments
title_full A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environments
title_fullStr A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environments
title_full_unstemmed A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environments
title_sort A biomimetic spiking neural network of the auditory midbrain for mobile robot sound localisation in reverberant environments
dc.creator.none.fl_str_mv Liu, Jindong
Pérez González, David
Rees, Adrian
Erwin, Harry
Wermter, Stefan
rees
author Liu, Jindong
author_facet Liu, Jindong
Pérez González, David
Rees, Adrian
Erwin, Harry
Wermter, Stefan
rees
author_role author
author2 Pérez González, David
Rees, Adrian
Erwin, Harry
Wermter, Stefan
rees
author2_role author
author
author
author
author
dc.subject.none.fl_str_mv Spiking neural network
Sound localisation
Inferior colliculus
Interaural time difference
Interaural level difference
Mobile robotics
Neural Networks (Computer)
Sound Localization
Inferior Colliculi
2490 Neurociencias
2411.13 Fisiología de la Audición
colículos inferiores
localización del sonido
redes neuronales (ordenador)
topic Spiking neural network
Sound localisation
Inferior colliculus
Interaural time difference
Interaural level difference
Mobile robotics
Neural Networks (Computer)
Sound Localization
Inferior Colliculi
2490 Neurociencias
2411.13 Fisiología de la Audición
colículos inferiores
localización del sonido
redes neuronales (ordenador)
description 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.
publishDate 2009
dc.date.none.fl_str_mv 2009
2024
2024
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10366/160427
url http://hdl.handle.net/10366/160427
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv EPSRC (EP/D055466)
EPSRC (EP/D060648)
dc.rights.none.fl_str_mv CC0 1.0 Universal
http://creativecommons.org/publicdomain/zero/1.0/
info:eu-repo/semantics/openAccess
rights_invalid_str_mv CC0 1.0 Universal
http://creativecommons.org/publicdomain/zero/1.0/
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv reponame:GREDOS. Repositorio Institucional de la Universidad de Salamanca
instname:Universidad de Salamanca (USAL)
instname_str Universidad de Salamanca (USAL)
reponame_str GREDOS. Repositorio Institucional de la Universidad de Salamanca
collection GREDOS. Repositorio Institucional de la Universidad de Salamanca
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869402864613326848
score 15,81155

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