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Live Demonstration: Real-time neuro-inspired sound source localization and tracking architecture applied to a robotic platform

Pérez Peña, Fernando; Cerezuela Escudero, Elena; Jiménez Fernández, Ángel Francisco; Morgado Estévez, Arturo · 2018

Abstract

This live demonstration presents a sound source localization and tracking system implemented with Spike Signal Processing (SSP) building blocks on FPGA devices. The system architecture is based on the ability of the mammalian auditory system to locate the direction of a sound in the horizontal plane using the interaural intensity difference. We used a binaural Neuromorphic Auditory Sensor to obtain spike rates similar to those generated by the inner hair cells of the human auditory system and the component that obtains the interaural intensity difference is inspired by the lateral superior olive. The spike stream that represents the interaural intensity difference is used to turn a robotic platform towards the sound source direction. The system was tested with pure tones (1-kHz, 2.5-kHz and 5- kHz sounds) with an average error of 2.32 degrees.

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Live Demonstration: Real-time neuro-inspired sound source localization and tracking architecture applied to a robotic platform

Author: Pérez Peña, Fernando; Cerezuela Escudero, Elena; Jiménez Fernández, Ángel Francisco; Morgado Estévez, Arturo
Publisher: IEEE Computer Society
Year: 2018
DOI: 10.1109/ISCAS.2018.8351772
Source: https://idus.us.es/bitstreams/328bfb0f-8f7d-471d-9835-95e54f2aa083/download
Li e Demons a ion: Real- ime neu o-inspi ed sound
sou ce localiza ion and acking a chi ec u e applied
o a obo ic pla o m
F. Pe ez-Peña1 E. Ce ezuela-Escude o2, Angel Jimenez-Fe nandez2 and A u o Mo gado-Es e ez1
1. Applied Robo ics Resea ch Lab, Uni e sidad de Cádiz, Facul y o Enginee ing, Pue o Real, Cadiz, Spain
2. Robo ics and Technology o Compu e s Lab (RTC), Uni e si y o Se ille, ETSI In o má ica, Se ille, Spain
Email: [email p o ec ed]
Abs ac — This li e demons a ion p esen s a sound sou ce
localiza ion and acking sys em implemen ed wi h Spike Signal
P ocessing (SSP) building blocks on FPGA de ices. The sys em
a chi ec u e is based on he abili y o he mammalian audi o y
sys em o loca e he di ec ion o a sound in he ho izon al plane
using he in e au al in ensi y di e ence. We used a binau al
Neu omo phic Audi o y Senso o ob ain spike a es simila o
hose gene a ed by he inne hai cells o he human audi o y
sys em and he componen ha ob ains he in e au al in ensi y
di e ence is inspi ed by he la e al supe io oli e. The spike
s eam ha ep esen s he in e au al in ensi y di e ence is used
o u n a obo ic pla o m owa ds he sound sou ce di ec ion.
The sys em was es ed wi h pu e ones (1-kHz, 2.5-kHz and 5-
kHz sounds) wi h an a e age e o o 2.32 deg ees.
I. I
NTRODUCTION
This li e demo is based on e e ence [1]. I shows he
ha dwa e implemen a ion o a sound localiza ion and acking
sys em inspi ed by he mammalian audi o y sys em. The NAS
senso used p oduces a biological cochlea-like ou pu . This
ou pu is he s imulus o he p ocessing sys em whe e he
LSO model is implemen ed. The a chi ec u e p oposed o he
LSO which pe o ms he sub ac ion be ween wo inpu spike
a es p oduces he In e au al In ensi y Di e ence (IID). The
IID audi o y cue is used as he inpu o he spike-based
ac ua ion s age ha acks he sound.
The demo shows he sys em es ed using 1 kHz, 2.5 kHz and 5
kHz pu e ones. The maximum e o ob ained is less han i e
deg ees. Fu he mo e, ou sys em shows a high noise ole ance
le el when whi e noise is applied: in he wo s condi ion, he
a e age e o is lowe han en deg ees. The a chi ec u e
p esen ed in his demo is implemen ed by using low-cos
comme cial ha dwa e de ices such as FPGAs. The powe
consump ion goes up o 58.33 mW in ope a ion (29.7 mW
om he NAS and 28.63 mW om he p ocessing laye ).
II. D
EMOSTRATION SETUP
The expe imen al se up is shown in Fig. 1. I consis s o a
s imulus (sound sou ce), a obo ic pla o m (head), an audi o y
senso and an ac ua ion laye . The dis ance be ween he
speake and he head is 40 cm a di e en azimu hal angles (0º
o 90º in s eps o 15º). The mic ophones a e on each side o
he head (omnidi ec ional pick-up pa e n). The head is placed
on op o a pla o m d i en by a DC mo o wi h an encode
(Mic omo o Re . 2224R006SR plus gea head Re . 20/1 112:1
and encode Re . IE2-512 om Faulhabe ). The NAS is
implemen ed using a Vi ex5 FPGA (XC5VFX70T) and i
uses up o 99% o he o al slices a ailable. The FPGA is in a
Xilinx de elopmen boa d (ML507) which includes he AC’97
audio codec. The NAS ou pu is connec ed o he p ocessing
sys em using he AER p o ocol. The p ocessing sys em is also
implemen ed using a Vi ex5 FPGA (XC5VFX30T), which
uses up o 4% o he o al slices a ailable. The speci ica ions
o he mic ophone a e: ansduce p inciple based on back
elec e condense elemen , he equency esponse ange is
be ween 20 and 16,000Hz, he sensi i e is -64dB ±3dB and
he impedance is 1,000 Ohm.
Fig 1. Se -up p o ided o he isi o expe ience.
III. V
ISITOR EXPERIENCE
Visi o s will be able o in e ac wi h he demo by mo ing
he audio sou ce wi hin he ange (-90, 90) deg ees and by
modi ying he one played by he sou ce: (1, 2.5 and 5) kHz.
They will check i he head is able o ollow he sou ce and
how accu a e is he mo emen . The e will be a small sc een o
show he g ound u h and a lap op showing he cu en
posi ion eached by he head (Figu e 1).
A
CKNOWLEDGMENT
This wo k is suppo ed by he Spanish g an (wi h suppo
om he Eu opean Regional De elopmen Fund) COFNET
(TEC2016-77785-P).
IV. R
EFERENCES
[1] E. Ce ezuela-Escude o, F. Pé ez-Peña e al., “Real- ime neu o-inspi ed
sound sou ce localiza ion and acking a chi ec u e applied o a obo ic
pla o m,” Neu ocompu ing, ol. 283C, pp. 129-139, Feb. 2018.