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Tutorial 26 Applications of Binaural Psychoacoustics in Audio — Designing Spatial Audio Techniques for Human Listeners

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Tutorial 26 Applications of Binaural Psychoacoustics in Audio — Designing Spatial Audio Techniques for Human Listeners Tutorial 26 Applications of Binaural Psychoacoustics in Audio — Designing Spatial Audio Techniques for Human Listeners Ville Pulkki Department of Signal Processing and Acoustics Aalto University, Finland June 6, 2016 Background literature "Communication acoustics – Introduction to Speech, Audio and Psychoacoustics" Textbook. Ch 12: Spatial hearing, Pulkki & Karjalainen 2015, Wiley "Parametric time-frequency-domain spatial audio" Contributed book with 15 chapters. eds Pulkki, Delikaris-Manias and Politis, Wiley, early 2017 Spatial hearing 2/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Where and what? Localization of sources Beam-forming towards different directions squawk chirp chirp brr toot! quack! swooh clip clop wind sound swooh rustle Spatial hearing 3/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Response to quite limited range of wavelengths (380-740nm) Human eye The cells in the eye are a priori sensitive to direction of light Spatial hearing 4/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Human eye The cells in the eye are a priori sensitive to direction of light Response to quite limited range of wavelengths (380-740nm) Spatial hearing 4/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics One ear alone knows quite little of the spatial position of the source Human spatial hearing Response to very large range of wavelengths (2cm–30m) Ear canal diameter <1cm, sound just bends into the canal Spatial hearing 5/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Human spatial hearing Response to very large range of wavelengths (2cm–30m) Ear canal diameter <1cm, sound just bends into the canal One ear alone knows quite little of the spatial position of the source Spatial hearing 5/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Signal characteristics in one ear / Signal differences between two ears Hearing mechanisms estimate the most probable position for source Hearing can be fooled easily by audio techniques! Human spatial hearing c J. Blauert The sources are localized by signal analysis by the brains Spatial hearing 6/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Hearing mechanisms estimate the most probable position for source Hearing can be fooled easily by audio techniques! Human spatial hearing c J. Blauert The sources are localized by signal analysis by the brains Signal characteristics in one ear / Signal differences between two ears Spatial hearing 6/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Hearing can be fooled easily by audio techniques! Human spatial hearing c J. Blauert The sources are localized by signal analysis by the brains Signal characteristics in one ear / Signal differences between two ears Hearing mechanisms estimate the most probable position for source Spatial hearing 6/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Human spatial hearing c J. Blauert The sources are localized by signal analysis by the brains Signal characteristics in one ear / Signal differences between two ears Hearing mechanisms estimate the most probable position for source Hearing can be fooled easily by audio techniques! Spatial hearing 6/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics This chapter Basic concepts Head-related acoustics Localization cues Localization accuracy Perception of direction in presence of echoes Ability to listen selectively specific direction Distance perception Spatial hearing 7/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Coordinate system Azimuth-elevation / median plane z Frontal plane Median plane y r δ ϕ x front Horizontal plane Spatial hearing 8/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Coordinate system 2 Cone of confusion r δ ϕ cc cc Cone of confusion Spatial hearing 9/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Basic concepts Listening conditions Monaural hearing (hearing processes and cues that need signal from only one ear) Binaural hearing (differences in ear signals have also an effect) Spatial sound reproduction methods Monotic (signal fed to only one ear) Diotic (same signal fed to both ears) Dichotic (different signal fed to ears) Spatial hearing 10/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Dichotic listening with headphones a) b) τ ph1 τ ph2 delays a1 a2 attenuators signal signal Spatial hearing 11/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Head-related acoustics Let us consider only free field first How does incoming sound change as it hits the listener? What is the transfer function from source to ear canal? X Yl y =h (t)*x(t) Yleft = Hleft X left left Spatial hearing 12/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Head-related acoustics measurements Transfer function from source to ear canal Place a microphone to ear canal or use dummy heads Head-related transfer function, head-related impulse response Depends heavily on the direction of the source Spatial hearing 13/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Head related transfer function (HRTF) Measured with real subject for three directions Magnitude response 0dB 0 0 -10 -10 -10 -20 -20 -20 left ear left ear left ear -30 ϕ = 0 -30 ϕ = 60 -30 ϕ = 0 δ = 0 δ = 0 δ = 60 -40 -40 -40 2 4 102 103 104Hz 102 103 104 Hz10 103 10 Hz a) b) c) 0dB 0 0 -10 -10 -10 -20 -20 -20 right ear right ear right ear -30 -30 -30 ϕ = 0 ϕ = 60 ϕ = 0 δ = 0 δ δ = 60 -40 -40 = 0 -40 2 4 2 4 102 103 104Hz 10 103 10 Hz 10 103 10 Hz Spatial hearing 14/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Head related impulse response (HRIR) HRIR == HRTF in time domain, quite often HRIRs are also called HRTFs 0.2 left ear 0.2 left ear 0.2 left ear ϕ o ϕ o ϕ o 0.1 = 0 0.1 = 60 0.1 = 0 δ = 0o δ = 0o δ = 60o 0 0 0 -0.1 -0.1 -0.1 -0.2 -0.2 -0.2 0 1 2 ms 0 1 2 ms 0 1 2 ms a) b) c) 0.2 right ear 0.2 right ear 0.2 right ear ϕ = 0o ϕ o ϕ o 0.1 0.1 = 60 0.1 = 0 δ = 0o δ = 0o δ = 60o 0 0 0 -0.1 -0.1 -0.1 -0.2 -0.2 -0.2 0 1 2 ms 0 1 2 ms 0 1 2ms Spatial hearing 15/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics HRTF in horizontal plane Horizontal plane HRTF left ear [dB] 0 0 31 63 −5 94 124 153 −10 −179 −150 −15 −121 −92 Azimuth [degrees] −20 −61 −30 −25 0.1 0.2 0.4 0.8 1.6 3.2 6.4 12.8 Frequency [kHz] Spatial hearing 16/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics HRIR in horizontal plane Horizonal plane HRIR left ear 0 31 0.8 63 94 0.6 124 153 0.4 −179 0.2 −150 −121 0 Azimuth [degree] −92 −61 −0.2 −30 −0.4 0 0.5 1 1.5 2 Time [ms] Spatial hearing 17/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics HRTF in median plane Median plane HRTF left ear [dB] −45 0 0 −5 45 −10 [degrees] cc 90 −15 135 180 −20 Elevation 225 −25 0.4 0.8 1.6 3.2 6.4 12.8 Frequency [kHz] Spatial hearing 18/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics HRIR in median plane Median plane HRIR left ear −45 0.05 0 45 [degrees] cc 90 0 135 180 Elevation 225 −0.05 0 0.5 1 1.5 2 2.5 3 3.5 Time [ms] Spatial hearing 19/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Localization cues HRTFs impose some spatial information to ear canal signals What information do we dig out from those? Binaural localization cues Interaural time difference, ITD Interaural level difference, ILD Monaural localization cues: spectral cues Dynamic cues Spatial hearing 20/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Interaural time difference (ITD) Sound arrives a bit earlier to one ear than the other ITD varies between -0.7ms and +0.7ms JND of ITD is of order of 20µs D τ = (' + sin ') 2c D 600 Computed from equation s] μ 400 Δ S Measured values ϕ 200 Time difference ITD [ 0 0 30 60 90 Azimuth angle ϕ [o] Spatial hearing 21/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Interaural time difference (ITD) We are sensitive to phase differences at low frequencies time differences between envelopes at higher frequencies low frequencies ~200 − ~1600 Hz high frequencies > ~1600 Hz time/phase delay btw carriers time delay btw envelopes left right ITD ITD Spatial hearing 22/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Interaural time difference HRTFs measured from a human, ITD of noise sound source in free field computed with an auditory model 12.418.2 5.7 8.5 2.6 3.9 1.1 1.7 0.4 0.7 0.2 1 0.5 0 ITD [ms] −0.5 −1 −90 −60 18.2 12.4 −30 8.5 5.7 0 3.9 2.6 30 1.7 60 1.1 0.4 0.7 90 0.2 Azimuth [degree] Frequency [kHz] Spatial hearing 23/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Interaural level difference (ILD) Head shadows incoming sound Effect depends on wavelength, no shadowing at low frequencies distance, larger ILD at very short distances (< 1m) ILD varies between -20dB and 20dB JND is of order of 1dB for sources near median plane Spatial hearing 24/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Interaural level difference HRTFs measured from a human, ILD of sound source in free field computed with an auditory model 18.2 8.5 12.4 3.9 5.7 1.7 2.6 0.7 1.1 0.2 0.4 30 20 10 0 ILD [phon] −10 −20 −30 −90 −60 −30 0 30 18.2 8.5 12.4 60 3.9 5.7 1.7 2.6 0.7 1.1 Azimuth [degree] 90 0.2 0.4 Frequency [kHz] Spatial hearing 25/72 Pulkki June 6, 2016 Dept Signal Processing and Acoustics Basic lateralization results Subjects report the position of internalized auditory source on interaural axis a) b) 6 τ ph1 τ ph2 6 left earlier delaysleft later a1 lefta2 attenuatorsleft stronger weaker 4 4 signal signal 2 2 right right 0 0 2 2 left left 4 4 perceived lateralization perceived lateralization
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