{"id":"https://openalex.org/W2026200758","doi":"https://doi.org/10.1109/icra.2013.6630949","title":"A two-layer probabilistic model based on time-delay compensation for binaural sound localization","display_name":"A two-layer probabilistic model based on time-delay compensation for binaural sound localization","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2026200758","doi":"https://doi.org/10.1109/icra.2013.6630949","mag":"2026200758"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100410326","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0002-7498-6541"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hong Liu","raw_affiliation_strings":["Faculty of Key Laboratory of Machine perception and Intelligence, Shenzhen Graduate School, Peking University, Beijing, China","Fac. of Key Lab. of Machine Perception & Intell., Peking Univ., Beijing, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Key Laboratory of Machine perception and Intelligence, Shenzhen Graduate School, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Fac. of Key Lab. of Machine Perception & Intell., Peking Univ., Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058583646","display_name":"Zhuo Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuo Fu","raw_affiliation_strings":["Engineering Laboratoryon Intelligent Perception for Internet of Things(ELIT), Shenzhen Graduate School, Peking University, Shenzhen, China","Eng. Lab. on Intell. Perception for Internet of Things (ELIT), Peking Univ., Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Engineering Laboratoryon Intelligent Perception for Internet of Things(ELIT), Shenzhen Graduate School, Peking University, Shenzhen, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Eng. Lab. on Intell. Perception for Internet of Things (ELIT), Peking Univ., Shenzhen, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100358313","display_name":"Xiaofei Li","orcid":"https://orcid.org/0000-0003-0393-9905"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofei Li","raw_affiliation_strings":["Engineering Laboratoryon Intelligent Perception for Internet of Things(ELIT), Shenzhen Graduate School, Peking University, Shenzhen, China","Eng. Lab. on Intell. Perception for Internet of Things (ELIT), Peking Univ., Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Engineering Laboratoryon Intelligent Perception for Internet of Things(ELIT), Shenzhen Graduate School, Peking University, Shenzhen, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Eng. Lab. on Intell. Perception for Internet of Things (ELIT), Peking Univ., Shenzhen, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100410326"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":2.66018828,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.9132879,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2705","last_page":"2712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11309","display_name":"Music and Audio Processing","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/binaural-recording","display_name":"Binaural recording","score":0.8052407503128052},{"id":"https://openalex.org/keywords/azimuth","display_name":"Azimuth","score":0.6557556986808777},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6401069760322571},{"id":"https://openalex.org/keywords/interaural-time-difference","display_name":"Interaural time difference","score":0.619853138923645},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.6048021912574768},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.556113064289093},{"id":"https://openalex.org/keywords/acoustic-source-localization","display_name":"Acoustic source localization","score":0.519478440284729},{"id":"https://openalex.org/keywords/sound-localization","display_name":"Sound localization","score":0.47886916995048523},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4756486117839813},{"id":"https://openalex.org/keywords/speech-recognition","display_name":"Speech recognition","score":0.4677462875843048},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.4645170271396637},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4449545443058014},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3812069892883301},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33918288350105286},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.33566999435424805},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25533443689346313},{"id":"https://openalex.org/keywords/sound","display_name":"Sound (geography)","score":0.22346559166908264}],"concepts":[{"id":"https://openalex.org/C201247586","wikidata":"https://www.wikidata.org/wiki/Q5612967","display_name":"Binaural recording","level":2,"score":0.8052407503128052},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.6557556986808777},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6401069760322571},{"id":"https://openalex.org/C103364767","wikidata":"https://www.wikidata.org/wiki/Q1807562","display_name":"Interaural time difference","level":3,"score":0.619853138923645},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.6048021912574768},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.556113064289093},{"id":"https://openalex.org/C93240960","wikidata":"https://www.wikidata.org/wiki/Q217270","display_name":"Acoustic source localization","level":3,"score":0.519478440284729},{"id":"https://openalex.org/C68236139","wikidata":"https://www.wikidata.org/wiki/Q765652","display_name":"Sound localization","level":2,"score":0.47886916995048523},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4756486117839813},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.4677462875843048},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4645170271396637},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4449545443058014},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3812069892883301},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33918288350105286},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.33566999435424805},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25533443689346313},{"id":"https://openalex.org/C203718221","wikidata":"https://www.wikidata.org/wiki/Q491713","display_name":"Sound (geography)","level":2,"score":0.22346559166908264},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6630949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1480485976","https://openalex.org/W1946152311","https://openalex.org/W1970563292","https://openalex.org/W1974852162","https://openalex.org/W1983805597","https://openalex.org/W1987380053","https://openalex.org/W1989286028","https://openalex.org/W2001381741","https://openalex.org/W2050758723","https://openalex.org/W2060539877","https://openalex.org/W2096317604","https://openalex.org/W2096471577","https://openalex.org/W2106925337","https://openalex.org/W2108668360","https://openalex.org/W2118889375","https://openalex.org/W2122171611","https://openalex.org/W2122969503","https://openalex.org/W2137666850","https://openalex.org/W2139190150","https://openalex.org/W2149961907","https://openalex.org/W2153248083","https://openalex.org/W2157437312","https://openalex.org/W2161263991","https://openalex.org/W2241211221","https://openalex.org/W2318686747","https://openalex.org/W2404660707","https://openalex.org/W2416573875","https://openalex.org/W6680049427","https://openalex.org/W6682202708","https://openalex.org/W6713760786"],"related_works":["https://openalex.org/W4389240440","https://openalex.org/W4221151007","https://openalex.org/W4383197910","https://openalex.org/W2530097559","https://openalex.org/W2292233014","https://openalex.org/W2317500761","https://openalex.org/W2033173663","https://openalex.org/W3004570917","https://openalex.org/W2790330717","https://openalex.org/W2025500868"],"abstract_inverted_index":{"Interaural":[0,5],"Intensity":[1],"Difference":[2,7],"(IID)":[3],"and":[4,22,39,145,171],"Time":[6],"(ITD)":[8],"are":[9],"two":[10,43],"important":[11],"cues":[12],"for":[13,58,175],"robot":[14],"acoustic":[15,44],"localization":[16,149],"both":[17],"in":[18,79,87],"Artificial":[19],"Intelligence":[20],"(AI)":[21],"Human-Robot":[23],"Interaction":[24],"(HRI)":[25],"areas.":[26],"However,":[27],"it":[28],"is":[29,56,77,136,151],"a":[30,35,49,67,90,121],"challenge":[31],"job":[32],"to":[33,81,138],"localize":[34],"sound":[36,60,176],"source":[37,61,177],"accurately":[38],"swiftly":[40],"only":[41],"by":[42,153],"sensors.":[45],"In":[46,63,117],"this":[47,88],"paper,":[48],"time-delay":[50,108,129],"compensation":[51],"based":[52,127],"two-layer":[53],"probabilistic":[54],"model":[55],"presented":[57],"binaural":[59],"localization.":[62,178],"the":[64,83,100,103,114,118,140,143,146,165],"first":[65],"layer,":[66,120],"weighting":[68],"function":[69],"of":[70,93,105,125,142],"Generalized":[71],"Cross":[72],"Correlation":[73],"(GCC)":[74],"named":[75],"PHAT-\u03c1\u03b3":[76],"used":[78],"low-frequency":[80],"obtain":[82],"prior":[84],"time-delay.":[85],"And":[86],"layer":[89],"crude":[91],"estimate":[92],"azimuth":[94,144],"can":[95,110],"also":[96],"be":[97,111],"acquired.":[98],"At":[99],"same":[101],"time,":[102],"probability":[104,141],"all":[106],"possible":[107],"lags":[109],"achieved":[112],"from":[113],"training":[115],"data.":[116],"Second":[119],"new":[122],"improved":[123],"algorithm":[124],"IID":[126,131],"on":[128],"compensation(named":[130],"<sup":[132],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[133],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u03b4\u03c4</sup>":[134],")":[135],"introduced":[137],"refine":[139],"elevation.":[147],"Lastly,":[148],"result":[150],"obtained":[152],"Bayes-Rule":[154],"method.":[155],"Comparing":[156],"with":[157],"three":[158],"state-of-art":[159],"algorithms,":[160],"experimental":[161],"results":[162],"show":[163],"that":[164],"proposed":[166],"method":[167],"has":[168],"higher":[169],"accuracy":[170],"costs":[172],"less":[173],"time":[174]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}