Robust and low complexity localization algorithm based on head-related impulse responses and interaural time difference

This article introduces a biologically inspired localization algorithm using two microphones, for a mobile robot. The proposed algorithm has two steps. First, the coarse azimuth angle of the sound source is estimated by cross-correlation algorithm based on interaural time difference. Then, the accurate azimuth angle is obtained by cross-channel algorithm based on head-related impulse responses. The proposed algorithm has lower computational complexity compared to the cross-channel algorithm. Experimental results illustrate that the localization performance of the proposed algorithm is better than those of the cross-correlation and cross-channel algorithms.