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.
Date of this Version
acoustic signal processing, interaural time difference of arrival, deconvolution, delay estimation
Date Posted: 27 July 2004
This document has been peer reviewed.