Nonnegative deconvolution for time of arrival estimation
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General Robotics, Automation, Sensing and Perception Laboratory
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acoustic signal processing
interaural time difference of arrival
deconvolution
delay estimation
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Abstract
The interaural time difference (ITD) of arrival is a primary cue for acoustic sound source localization. Traditional estimation techniques for ITD based upon cross-correlation are related to maximum-likelihood estimation of a simple generative model. We generalize the time difference estimation into a deconvolution problem with nonnegativity constraints. The resulting nonnegative least squares optimization can be efficiently solved using a novel iterative algorithm with guaranteed global convergence properties. We illustrate the utility of this algorithm using simulations and experimental results from a robot platform.