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Humans can recognize approximate room size using only binaural audition. However, sound reverberation is not negligible in most environments. The reverberation causes temporal fluctuations in the short-term interaural phase differences (IPDs) of sound pressure. This study proposes a novel method for a binaural humanoid robot head to estimate room volume. The method is based on the statistical properties of the short-term IPDs of sound pressure. The humanoid robot turns its head toward a sound source, recognizes the sound source, and then estimates the ego-centric distance by its stereovision. By interpolating the relations between room volume, average standard deviation, and ego-centric distance experimentally obtained for various rooms in a prepared database, the room volume was estimated by the binaural audition of the robot from the average standard deviation of the short-term IPDs at the estimated distance

Room Volume Estimation Based on Ambiguity of Short-Term Interaural Phase Differences Using Humanoid Robot Head