Lin, YuanqingLee, Daniel DSaul, Lawrence K2023-05-222023-05-222004-05-172004-07-27https://repository.upenn.edu/handle/20.500.14332/33276The 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.GRASPacoustic signal processinginteraural time difference of arrivaldeconvolutiondelay estimationPresentation