The bat head-related transfer function reveals binaural cues for sound localization in azimuth and elevation

Directional properties of the sound transformation at the ear of four intact echolocating bats, Eptesicus fuscus, were investigated via measurements of the head-related transfer function (HRTF). Contributions of external ear structures to directional features of the transfer functions were examined by remeasuring the HRTF in the absence of the pinna and tragus. The investigation mainly focused on the interactions between the spatial and the spectral features in the bat HRTF. The pinna provides gain and shapes these features over a large frequency band (20-90 kHz), and the tragus contributes gain and directionality at the high frequencies (60 to 90 kHz). Analysis of the spatial and spectral characteristics of the bat HRTF reveals that both interaural level differences (ILD) and monaural spectral features are subject to changes in sound source azimuth and elevation. Consequently, localization cues for horizontal and vertical components of the sound source location interact. Availability of multiple cues about sound source azimuth and elevation should enhance information to support reliable sound localization. These findings stress the importance of the acoustic information received at the two ears for sound localization of sonar target position in both azimuth and elevation.     

Contrasting monaural and interaural spectral cues for human sound localization

A human psychoacoustical experiment is described that investigates the role of the monaural and interaural spectral cues in human sound localization. In particular, it focuses on the relative contribution of the monaural versus the interaural spectral cues towards resolving directions within a cone of confusion (i.e., directions with similar interaural time and level difference cues) in the auditory localization process. Broadband stimuli were presented in virtual space from 76 roughly equidistant locations around the listener. In the experimental conditions, a "false" flat spectrum was presented at the left eardrum. The sound spectrum at the right eardrum was then adjusted so that either the true right monaural spectrum or the true interaural spectrum was preserved. In both cases, the overall interaural time difference and overall interaural level difference were maintained at their natural values. With these virtual sound stimuli, the sound localization performance of four human subjects was examined. The localization performance results indicate that neither the preserved interaural spectral difference cue nor the preserved right monaural spectral cue was sufficient to maintain accurate elevation judgments in the presence of a flat monaural spectrum at the left eardrum. An explanation for the localization results is given in terms of the relative spectral information available for resolving directions within a cone of confusion.     

Binaural weighting of monaural spectral cues for sound localization

For human listeners, cues for vertical-plane localization are provided by direction-dependent pinna filtering. This study quantified listeners' weighting of the spectral cues from each ear as a function of stimulus lateral angle, interaural time difference (ITD), and interaural level difference (ILD). Subjects indicated the apparent position of headphone-presented noise bursts synthesized in virtual auditory space. The synthesis filters for the two ears either corresponded to the same location or to two different locations separated vertically by 20 deg. Weighting of each ear's spectral information was determined by a multiple regression between the elevations to which each ear's spectrum corresponded and the vertical component of listeners' responses. The apparent horizontal source location was controlled either by choosing synthesis filters corresponding to locations on or 30 deg left or right of the median plane or by attenuating or delaying the signal at one ear. For broadband stimuli, spectral weighting and apparent lateral angle were determined primarily by ITD. Only for high-pass stimuli were weighting and lateral angle determined primarily by ILD. The results suggest that the weighting of monaural spectral cues and the perceived lateral angle of a sound source depend similarly on ITD, ILD, and stimulus spectral range.     

Perceptual validation of virtual room acoustics: Sound localisation and speech understanding

The reliability of algorithms for room acoustic simulations has often been confirmed on the basis of the verification of predicted room acoustical parameters. This paper presents a complementary perceptual validation procedure consisting of two experiments, respectively dealing with speech intelligibility, and with sound source front–back localisation.The evaluated simulation algorithm, implemented in software ODEON®, is a hybrid method that is based on an image source algorithm for the prediction of early sound reflection and on ray-tracing for the later part, using a stochastic scattering process with secondary sources. The binaural room impulse response (BRIR) is calculated from a simulated room impulse response where information about the arriving time, intensity and spatial direction of each sound reflection is collected and convolved with a measured Head Related Transfer Function (HRTF). The listening stimuli for the speech intelligibility and localisation tests are auralised convolutions of anechoic sound samples with measured and simulated BRIRs.Perception tests were performed with human subjects in two acoustical environments, i.e. an anechoic and reverberant room, by presenting the stimuli to subjects in a natural way, and via headphones by using two non-individualized HRTFs (artificial head and hearing aids placed on the ears of the artificial head) of both a simulated and a real room.Very good correspondence is found between the results obtained with simulated and measured BRIRs, both for speech intelligibility in the presence of noise and for sound source localisation tests. In the anechoic room an increase in speech intelligibility is observed when noise and signal are presented from sources located at different angles. This improvement is not so evident in the reverberant room, with the sound sources at 1-m distance from the listener. Interestingly, the performance of people for front–back localisation is better in the reverberant room than in the anechoic room.The correlation between people’s ability for sound source localisation on one hand, and their ability for recognition of binaurally received speech in reverberation on the other hand, is found to be weak.     

Subjective and objective verifications of the inverse functions of binaural room impulse responses

The binaural room impulse responses (BRIRs) can be applied to 3-D sound field reconstruction, virtual reality, noise control, et al. Because the BRIRs are non-minimum phase functions, it is difficult to find the exact inverse functions of the BRIRs, especially when there are two or more sources in a reverberant space. In this work, a method was proposed to find the inverse functions of BRIRs with two sound sources in a reverberant space. The concept of time delays and the method of weighted least squares were used to find the causal, however, approximate inverse functions. The accuracy of the inverse functions was first evaluated objectively by a dummy head system. The result shows that the distortion due to crosstalk and room reverberation can be improved by 16∼18 dB. The inverse functions were also verified subjectively by 20 students. The result of subjective evaluation also shows that the inverse functions can be used successfully to reduce the crosstalk effect and the room reverberation.     

The contribution of the near and far ear toward localization of sound in the sagittal plane

Eight listeners were required to locate a train of 4.5-kHz high-pass noise bursts emanating from loudspeakers positioned +/- 30, +/- 20, +/- 10, and 0 deg re: interaural axis. The vertical array of loudspeakers was placed at 45, 90, and 135 deg left of midline. The various experimental conditions incorporated binaural and monaural listening with the latter utilizing the ear nearest or ear farthest from the sound source. While performance excelled when listening with only the near ear, the contribution of the far ear was statistically significant when compared to localization performance when both ears were occluded. Based on head related transfer functions for stimuli whose bandwidth was 1.0 kHz, four spectral cues were selected as candidates for influencing location judgments. Two of them associated relative changes in energy across center frequencies (CFs) with vertical source positions. The other two associated an absolute minimum (maximum) energy for specific CFs with a vertical source position. All but one cue when measured for the near ear could account for localization proficiency. On the other hand, when listening with the far ear, maximum energy at a specific CF outperformed the remaining cues in accounting for localization proficiency.     

Tori of confusion: binaural localization cues for sources within reach of a listener

To a first-order approximation, binaural localization cues are ambiguous: many source locations give rise to nearly the same interaural differences. For sources more than a meter away, binaural localization cues are approximately equal for any source on a cone centered on the interaural axis (i.e., the well-known "cone of confusion"). The current paper analyzes simple geometric approximations of a head to gain insight into localization performance for nearby sources. If the head is treated as a rigid, perfect sphere, interaural intensity differences (IIDs) can be broken down into two main components. One component depends on the head shadow and is constant along the cone of confusion (and covaries with the interaural time difference, or ITD). The other component depends only on the relative path lengths from the source to the two ears and is roughly constant for a sphere centered on the interaural axis. This second factor is large enough to be perceptible only when sources are within one or two meters of the listener. Results are not dramatically different if one assumes that the ears are separated by 160 deg along the surface of the sphere (rather than diametrically opposite one another). Thus for nearby sources, binaural information should allow listeners to locate sources within a volume around a circle centered on the interaural axis on a "torus of confusion." The volume of the torus of confusion increases as the source approaches the median plane, degenerating to a volume around the median plane in the limit.     

Auditory perception of sound source velocity

In this study we investigate the perception of the velocity of linearly moving sound sources passing in front of a listener. The binaural simulation of motion used in two psychoacoustical experiments includes changes in the overall sound pressure level, the Doppler effect, and changes in interaural time differences. These changes are considered as cues for the perception of velocity. The present experiments are an extension of the experiments performed by Lutfi and Wang [J. Acoust. Soc. Am. 106, 919-928 (1999)]. The results of Experiment I show that the differential velocity threshold is independent of the reference velocity (10, 20, 30, and 40 m/s), varying across listeners from 1.5 to 4.6 m/s. In Experiment II, a method based on the successive elimination of cues in compared pairs of signals was employed to estimate the weights of potential cues for velocity discrimination. The magnitudes of all underlying cues at thresholds are reported. The experimental results show the subject's preference for the Doppler cue and a weakest sensitivity to the cue related with interaural time differences. Finally, it was found that spatial differences in the source location at the endpoints of the motion trajectory are not a significant factor in the velocity discrimination task.     

Source localization in complex listening situations: selection of binaural cues based on interaural coherence

In everyday complex listening situations, sound emanating from several different sources arrives at the ears of a listener both directly from the sources and as reflections from arbitrary directions. For localization of the active sources, the auditory system needs to determine the direction of each source, while ignoring the reflections and superposition effects of concurrently arriving sound. A modeling mechanism with these desired properties is proposed. Interaural time difference (ITD) and interaural level difference (ILD) cues are only considered at time instants when only the direct sound of a single source has non-negligible energy in the critical band and, thus, when the evoked ITD and ILD represent the direction of that source. It is shown how to identify such time instants as a function of the interaural coherence (IC). The source directions suggested by the selected ITD and ILD cues are shown to imply the results of a number of published psychophysical studies related to source localization in the presence of distracters, as well as in precedence effect conditions.     

A localization algorithm based on head-related transfer functions

Two sound localization algorithms based on the head-related transfer function were developed. Each of them uses the interaural time delay, interaural level difference, and monaural spectral cues to estimate the location of a sound source. Given that most localization algorithms will be required to function in background noise, the localization performance of one of the algorithms was tested at signal-to-noise ratios (SNRs) from 40 to -40 dB. Stimuli included ten real-world, broadband sounds located at 5 degrees intervals in azimuth and at 0 degrees elevation. Both two- and four-microphone versions of the algorithm were implemented to localize sounds to 5 degrees precision. The two-microphone version of the algorithm exhibited less than 2 degrees mean localization error at SNRs of 20 dB and greater, and the four-microphone version committed approximately 1 degrees mean error at SNRs of 10 dB or greater. Potential enhancements and applications of the algorithm are discussed.     

The effects of spatial separation in distance on the informational and energetic masking of a nearby speech signal

Although many studies have shown that intelligibility improves when a speech signal and an interfering sound source are spatially separated in azimuth, little is known about the effect that spatial separation in distance has on the perception of competing sound sources near the head. In this experiment, head-related transfer functions (HRTFs) were used to process stimuli in order to simulate a target talker and a masking sound located at different distances along the listener's interaural axis. One of the signals was always presented at a distance of 1 m, and the other signal was presented 1 m, 25 cm, or 12 cm from the center of the listener's head. The results show that distance separation has very different effects on speech segregation for different types of maskers. When speech-shaped noise was used as the masker, most of the intelligibility advantages of spatial separation could be accounted for by spectral differences in the target and masking signals at the ear with the higher signal-to-noise ratio (SNR). When a same-sex talker was used as the masker, the intelligibility advantages of spatial separation in distance were dominated by binaural effects that produced the same performance improvements as a 4-5-dB increase in the SNR of a diotic stimulus. These results suggest that distance-dependent changes in the interaural difference cues of nearby sources play a much larger role in the reduction of the informational masking produced by an interfering speech signal than in the reduction of the energetic masking produced by an interfering noise source.     

Auditory localization of nearby sources. III. Stimulus effects

A series of experiments has examined the auditory localization of a nearby (< 1 m) sound source under four conditions: (1) a fixed-amplitude condition where loudness-based distance cues were available; (2) a monaural condition where the contralateral ear was occluded by an ear-plug and muff; (3) a high-pass condition where the stimulus bandwidth was 3 Hz to 15 kHz; and (4) a low-pass condition where the stimulus bandwidth was 200 Hz to 3 kHz. The results of these experiments were compared to those of a previous experiment that measured localization performance for a nearby broadband, random-amplitude source [Brungart et al., J. Acoust. Soc. Am. 106, 1956-1968 (1999)]. Directional localization performance in each condition was consistent with the results of previous far-field localization experiments. Distance localization accuracy improved slightly in the fixed-amplitude condition relative to the earlier broadband random-amplitude experiment, especially near the median plane, but was severely degraded in the monaural condition. Distance accuracy was also found to be highly dependent on the low-frequency energy of the stimulus: in the low-pass condition, distance accuracy was similar to that in the broadband condition, while in the high-pass condition, distance accuracy was significantly reduced. The results suggest that low-frequency interaural level differences are the dominant auditory distance cue in the proximal region.     

Manipulations of listeners' echo perception are reflected in event-related potentials

To gain information from complex auditory scenes, it is necessary to determine which of the many loudness, pitch, and timbre changes originate from a single source. Grouping sound into sources based on spatial information is complicated by reverberant energy bouncing off multiple surfaces and reaching the ears from directions other than the source's location. The ability to localize sounds despite these echoes has been explored with the precedence effect: Identical sounds presented from two locations with a short stimulus onset asynchrony (e.g., 1-5 ms) are perceived as a single source with a location dominated by the lead sound. Importantly, echo thresholds, the shortest onset asynchrony at which a listener reports hearing the lag sound as a separate source about half of the time, can be manipulated by presenting sound pairs in contexts. Event-related brain potentials elicited by physically identical sounds in contexts that resulted in listeners reporting either one or two sources were compared. Sound pairs perceived as two sources elicited a larger anterior negativity 100-250 ms after onset, previously termed the object-related negativity, and a larger posterior positivity 250-500 ms. These results indicate that the models of room acoustics listeners form based on recent experience with the spatiotemporal properties of sound modulate perceptual as well as later higher-level processing.     

The acoustical cues to sound location in the rat: measurements of directional transfer functions

The acoustical cues for sound location are generated by spatial- and frequency-dependent filtering of propagating sound waves by the head and external ears. Although rats have been a common model system for anatomy, physiology, and psychophysics of localization, there have been few studies of the acoustical cues available to rats. Here, directional transfer functions (DTFs), the directional components of the head-related transfer functions, were measured in six adult rats. The cues to location were computed from the DTFs. In the frontal hemisphere, spectral notches were present for frequencies from approximately 16 to 30 kHz; in general, the frequency corresponding to the notch increased with increases in source elevation and in azimuth toward the ipsilateral ear. The maximum high-frequency envelope-based interaural time differences (ITDs) were 130 mus, whereas low-frequency (<3.5 kHz) fine-structure ITDs were 160 mus; both types of ITDs were larger than predicted from spherical head models. Interaural level differences (ILDs) strongly depended on location and frequency. Maximum ILDs were <10 dB for frequencies <8 kHz and were as large as 20-40 dB for frequencies >20 kHz. Removal of the pinna eliminated the spectral notches, reduced the acoustic gain and ILDs, altered the acoustical axis, and reduced the ITDs.     

Feasibility of subjective speech intelligibility assessment based on auralization

Subjective speech intelligibility can be assessed by speech recorded in an anechoic chamber and then convolved with room impulse responses that can be created by acoustic simulation. The speech intelligibility (SI) assessment based on auralization was validated in three rooms. The articulation scores obtained from simulated sound field were compared with the ones from measured sound field and from direct listening in rooms. Results show that the speech intelligibility prediction based on auralization technique with simulated binaural room impulse responses (BRIRs) is in agreement with reality and results from measured BRIRs. When this technique is used with simulated and measured monaural room impulse responses (MRIRs), the predicted results underestimate the reality. It has been shown that auralization technique with simulated BRIRs is capable of assessing subjective speech intelligibility of listening positions in the room.     

A performance adequate computational model for auditory localization

A computational model of auditory localization resulting in performance similar to humans is reported. The model incorporates both the monaural and binaural cues available to a human for sound localization. Essential elements used in the simulation of the processes of auditory cue generation and encoding by the nervous system include measured head-related transfer functions (HRTFs), minimum audible field (MAF), and the Patterson-Holdsworth cochlear model. A two-layer feed-forward back-propagation artificial neural network (ANN) was trained to transform the localization cues to a two-dimensional map that gives the direction of the sound source. The model results were compared with (i) the localization performance of the human listener who provided the HRTFs for the model and (ii) the localization performance of a group of 19 other human listeners. The localization accuracy and front-back confusion error rates exhibited by the model were similar to both the single listener and the group results. This suggests that the simulation of the cue generation and extraction processes as well as the model parameters were reasonable approximations to the overall biological processes. The amplitude resolution of the monaural spectral cues was varied and the influence on the model's performance was determined. The model with 128 cochlear channels required an amplitude resolution of approximately 20 discrete levels for encoding the spectral cue to deliver similar localization performance to the group of human listeners.     

Localization of virtual sound sources with bilateral hearing aids in realistic acoustical scenes

Sound localization with hearing aids has traditionally been investigated in artificial laboratory settings. These settings are not representative of environments in which hearing aids are used. With individual Head-Related Transfer Functions (HRTFs) and room simulations, realistic environments can be reproduced and the performance of hearing aid algorithms can be evaluated. In this study, four different environments with background noise have been implemented in which listeners had to localize different sound sources. The HRTFs were measured inside the ear canals of the test subjects and by the microphones of Behind-The-Ear (BTEs) hearing aids. In the first experiment the system for virtual acoustics was evaluated by comparing perceptual sound localization results for the four scenes in a real room with a simulated one. In the second experiment, sound localization with three BTE algorithms, an omnidirectional microphone, a monaural cardioid-shaped beamformer and a monaural noise canceler, was examined. The results showed that the system for generating virtual environments is a reliable tool to evaluate sound localization with hearing aids. With BTE hearing aids localization performance decreased and the number of front-back confusions was at chance level. The beamformer, due to its directivity characteristics, allowed the listener to resolve the front-back ambiguity.     

Resolution of front-back ambiguity in spatial hearing by listener and source movement.

Normally, the apparent position of a sound source corresponds closely to its actual position. However, in some experimental situations listeners make large errors, such as indicating that a source in the frontal hemifield appears to be in the rear hemifield, or vice versa. These front-back confusions are thought to be a result of the inherent ambiguity of the primary interaural difference cues, interaural time difference (ITD) in particular. A given ITD could have been produced by a sound source anywhere on the so-called "cone of confusion." More than 50 years ago Wallach [J. Exp. Psychol. 27, 339-368 (1940)] argued that small head movements could provide the information necessary to resolve the ambiguity. The direction of the change in ITD that accompanies a head rotation is an unambiguous indicator of the proper hemifield. The experiments reported here are a modern test of Wallach's hypothesis. Listeners indicated the apparent positions of real and virtual sound sources in conditions in which head movements were either restricted or encouraged. The front-back confusions made in the restricted condition nearly disappeared in the condition in which head movements were encouraged. In a second experiment head movements were restricted, but the sound source was moved, either by the experimenter or by the listener. Only when the listener moved the sound source did front-back confusions disappear. The results clearly support Wallach's hypothesis and suggest further that head movements are not required to produce the dynamic cues needed to resolve front-back ambiguity.     

Resolution of front-back confusion in virtual acoustic imaging systems

A geometric model of the scattering of sound by the human head is used to generate a model of localization cues based on interaural time delay (ITD). The ITD is calculated in terms of the interaural cross-correlation function (IACC) for sources placed at a series of azimuthal angles in the horizontal plane. This model is used to simulate the pressures generated at the ears of a listener due to real sources and due to a two-channel and a four-channel virtual source imaging system. Results are presented in each case for the variation of ITD with head rotation. The simulations predict that the rate of change of the ITD with head rotation produced by a real source and replicated by the four-channel virtual source imaging system, cannot be replicated by the two-channel system. These changes to the ITD provide cues which allow resolution of front-back confusion. The results of subjective experiments are also presented for the three cases modeled. These results strongly support the findings from the modeling work indicating that, for the systems described here, front-back confusion is resolved through changes to the ITD arising from head motion.     

Separation of concurrent broadband sound sources by human listeners

The effect of spatial separation on the ability of human listeners to resolve a pair of concurrent broadband sounds was examined. Stimuli were presented in a virtual auditory environment using individualized outer ear filter functions. Subjects were presented with two simultaneous noise bursts that were either spatially coincident or separated (horizontally or vertically), and responded as to whether they perceived one or two source locations. Testing was carried out at five reference locations on the audiovisual horizon (0 degrees, 22.5 degrees, 45 degrees, 67.5 degrees, and 90 degrees azimuth). Results from experiment 1 showed that at more lateral locations, a larger horizontal separation was required for the perception of two sounds. The reverse was true for vertical separation. Furthermore, it was observed that subjects were unable to separate stimulus pairs if they delivered the same interaural differences in time (ITD) and level (ILD). These findings suggested that the auditory system exploited differences in one or both of the binaural cues to resolve the sources, and could not use monaural spectral cues effectively for the task. In experiments 2 and 3, separation of concurrent noise sources was examined upon removal of low-frequency content (and ITDs), onset/offset ITDs, both of these in conjunction, and all ITD information. While onset and offset ITDs did not appear to play a major role, differences in ongoing ITDs were robust cues for separation under these conditions, including those in the envelopes of high-frequency channels.