Audio device with filtering based on head orientation and related methods

Abstract

The invention relates to an audio device with filtering based on head orientation and a related method. An audio device comprising a first audio wearable device adapted to be worn at a first ear of a user and a second audio wearable device adapted to be worn at a second ear of the user, the first audio wearable device comprising a first output transducer, a first wireless communication interface, one or more first processors, and a first memory, the first audio wearable device is configured to: obtain a first audio signal via the first wireless communication interface; obtaining head orientation data indicative of a head orientation of the user; determining a first filter based on the head orientation data, where the first filter is compensated based on a first delay and / or a first level; a first filter is applied to the first audio signal to compensate for the head orientation of the user for providing a first filtered audio signal, and the first filtered audio signal is output at the first audio wearable device.

Description

Technical Field

[0001] The present disclosure relates to the field of audio devices and methods of operating audio devices, and in particular, to audio devices with head orientation based filtering and related methods. Background Art

[0002] Audio wearables / devices such as earphones, earbuds, and headphones have gained widespread popularity for personal audio listening, communication, and entertainment. While these devices provide audio playback capabilities, they typically struggle to reproduce a sense of space due to the proximity of the speakers to the user's ears and limitations of traditional audio processing techniques. Traditional audio wearables (e.g., earphones, earbuds, and headphones) focus on stereo or surround sound setups that rely on multiple speakers located around the listener to create a sense of space. However, when applied to audio wearables, these traditional approaches encounter challenges in delivering an immersive sound experience. Some challenges with current audio wearables are that current audio wearables cannot control the sound source of the sound source and lack spatial cues. Summary of the invention

[0003] Advances in digital signal processing and spatial audio technology have attempted to address these challenges by introducing techniques such as auralization, 3D rendering, or binaural synthesis. These methods aim to simulate spatial perception by manipulating audio signals to reproduce the effect of sounds coming from different directions.

[0004] By utilizing binaural playback on headphones, a spatial perception of sound sources positioned within a "virtual soundscape" surrounding the listener can be generated. These soundscapes can be created by embedding spatial information in the signal, through recordings made using a virtual head, or by synthesizing spatial effects at the processing stage.

[0005] However, limitations arise when the listener turns their head. In this case, the perceived virtual soundscape moves with the head, in contrast to the natural behavior of the real soundscape which remains anchored in the physical space and does not move with the head's movements. This difference in perception can introduce unnatural elements and compromise the illusion of the virtual soundscape, potentially causing it to break down.

[0006] When sensors measure head turns, the head rotation angle can be included into the synthesis of spatial information. This inclusion results in a perceived stationary virtual soundscape. However, it can be technically complex to implement this in various settings. Real-time synthesis is required and the head rotation angle must be integrated into the synthesis process. If synthesis occurs outside the headphones or early in the transmission chain, data exchange challenges arise.

[0007] Therefore, there remains a need for improved methods and audio devices that optimize spatial perception, for example, for audio devices and audio wearable devices.

[0008] Therefore, there is a need for audio devices with head orientation based filtering and methods of operating audio devices that can mitigate, alleviate or address existing shortcomings and can provide improved spatial cues for audio wearable devices / devices, thereby allowing head orientation based filtering and thereby improving the user's spatial perception.

[0009] An audio device is disclosed. The audio device includes a first audio wearable device adapted to be worn at a first ear of a user and a second audio wearable device adapted to be worn at a second ear of the user. The first audio wearable device (e.g., an audio device) includes a first output transducer, a first wireless communication interface, one or more first processors, and a first memory. The first audio wearable device is configured to obtain a first audio signal, for example, via the first wireless communication interface. The first audio wearable device is configured to obtain head orientation data indicating a head orientation of the user, for example, via the first wireless communication interface and / or via a head orientation sensor. The first audio wearable device is configured to determine a first filter based on the head orientation data, for example, using one or more first processors, wherein the first filter is based on a first delay and / or a first level compensation. The first audio wearable device is configured to apply the first filter to the first audio signal, for example, using one or more first processors, to compensate for the head orientation of the user, for providing a first filtered audio signal. The first audio wearable device is configured to output the first filtered audio signal, for example, at the first audio wearable device, for example, using one or more first processors and via the first output transducer.

[0010] A method of operating an audio device is disclosed. The method includes obtaining a first audio signal. The method includes obtaining head orientation data indicating a head orientation of a user. The method includes determining a first filter based on the head orientation data, wherein the first filter is based on a first delay and / or a first level compensation. The method includes applying the first filter to the first audio signal to compensate for the head orientation of the user to provide a first filtered audio signal. The method includes outputting the first filtered audio signal.

[0011] The present disclosure provides improved head orientation based filtering of audio signals, thereby improving spatial perception, while reducing the technical complexity of filtering and audio processing. The present disclosure provides a natural perception of spatial soundscapes, while reducing the technical complexity of filtering and audio processing. For example, in the case of simultaneous visual stimulation, the perception of the fusion of sound and visual imagery is enhanced. For example, a user participating in an online meeting, while watching a video of a participant on the screen of an electronic device, will perceive the natural behavior of a real soundscape, which remains anchored in physical space and does not move with head movement. It is understood that the screen can be anchored in physical space and does not move with head movement.

[0012] It will be appreciated that the present disclosure provides simple head orientation-based filtering of audio signals while reducing the computational resources required to process the audio signals. This can be achieved by processing the audio signals at the audio device and by processing the audio signals of the audio wearable devices separately, for example, by processing the first audio signal of the first audio wearable device separately from the second audio signal of the second audio wearable device, or by processing only the first audio signal by the first audio wearable device. The present disclosure allows for real-time synthesis of filtered audio signals. The applicant has recognized that what is important is the difference between the first audio signal and the second audio signal, for example, the perceived difference between the ears of the user of the audio device / wearable device. Therefore, an advantage of the present disclosure is that it may be sufficient to apply the filter on one audio wearable device (e.g., on one ear of the user). This can further simplify the filtering based on head orientation and allow for filtering based on head orientation in audio wearable devices / devices with limited capacity. However, the present disclosure also describes the application of the filter on an audio wearable device and its advantages.

[0013] In daily life, humans localize audio sources in space through subtle changes in head orientation (e.g., slight head rotations). The present disclosure allows for mimicking these slight changes in head orientation to localize audio sources and mimic the natural perception of spatial soundscape locations. Thus, the present disclosure provides improved spatial cues for improving a user's spatial perception of audio.

[0014] The advantage of the present disclosure is that data flow is reduced between the audio device and the electronic device to which the audio device is connected, and data flow is also reduced between the audio wearable device of the audio device. This can allow faster processing and save power at each audio wearable device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other features and advantages of the present disclosure will become apparent to those skilled in the art through the following detailed description of examples of the present disclosure with reference to the accompanying drawings, in which:

[0016] Figure 1 schematically illustrates an example audio device according to the present disclosure;

[0017] Figure 2A and Figure 2B An example conventional audio device is schematically shown;

[0018] Figure 3A , Figure 3B and Figure 3C schematically illustrates an example audio device according to the present disclosure to which the techniques disclosed herein are applied;

[0019] FIG. 4A to FIG. 4B schematically illustrates an example audio device to which the techniques disclosed herein are applied according to the present disclosure; and

[0020] Figure 5A , Figure 5B and Figure 5C A flow chart of an example method according to the present disclosure is shown. DETAILED DESCRIPTION

[0021] Various examples and details will be described below with reference to the relevant drawings. It should be noted that the drawings may be drawn to scale or not to scale, and that elements of similar structure or function in all drawings are represented by the same reference numerals. It should also be noted that the drawings are intended only to facilitate the description of the examples. The drawings are not intended to serve as an exhaustive description of the present disclosure or as a limitation on the scope of the present disclosure. In addition, the examples shown do not need to have all the aspects or advantages shown. The aspects or advantages described in conjunction with a particular example are not necessarily limited to that example, and may be practiced in any other example, even if not so stated, or not so explicitly described.

[0022] These drawings are schematic and simplified for clarity, and they only show details that are helpful for understanding the present disclosure, while other details have been omitted. Throughout, the same reference numerals are used for the same or corresponding parts.

[0023] An audio device is disclosed. The audio device includes a first audio wearable device adapted to be worn at a first ear of a user and a second audio wearable device adapted to be worn at a second ear of the user.

[0024] An audio device is disclosed. The audio device can be configured to act as a receiver device and / or a transmitter device. In other words, the audio device is configured to receive an input signal, such as audio data, from an audio device configured to act as a transmitter device, or vice versa. The audio device as disclosed herein may include one or more interfaces, one or more audio speakers, one or more microphones (e.g., including a first microphone), one or more processors, and one or more memories. The one or more interfaces may include one or more of the following: a wireless interface, a wireless transceiver, an antenna, an antenna interface, a microphone interface, and a speaker interface.

[0025] Audio devices may include one or more of the following: headphones, earphones, earbuds, neckbands, and hearing devices.

[0026] An audio wearable device may be considered as a part of an audio device that is adapted to be worn at the ear of a user of the audio device. For example, when the audio device is a headset or earphone, the audio wearable device may be a part of the headset, for example, an earmuff or earpiece / earplug of the headset or earphone. The audio device may include a headset including a connecting band, wire or cable between a headband and / or earmuff or earpiece / earplug. The first audio wearable device and the second audio wearable device may be configured to communicate with each other via a wire or cable. The first audio wearable device may, for example, be a first earmuff of the audio device, and the second audio wearable device may be a second earmuff. The first audio wearable device may be a left earmuff, and the second audio wearable device may be a right earmuff of the audio device, and vice versa.

[0027] For example, when the audio device includes an earpiece or an earbud, the audio wearable device may be a single earpiece or earbud of the audio device. For example, the first audio wearable device may be a first earpiece / earbud of the audio device, and the second audio wearable device may be a second earpiece / earbud. The first audio wearable device may be a left earpiece / earbud of the audio device, and the second audio wearable device may be a right earpiece / earbud, or vice versa. The first audio wearable device and the second audio wearable device may be separate from each other, for example, not connected to each other by a band or cable. The first audio wearable device and the second audio wearable device may communicate with each other via wireless communication. In other words, the first earpiece / earbud and the second earpiece / earbud may be separate from each other. Alternatively or additionally, the first audio wearable device and the second audio wearable device may not communicate with each other.

[0028] In one or more example audio devices, the first audio wearable device is a first earpiece and the second audio wearable device is a second earpiece.

[0029] In one or more example audio devices, the audio device is a headset, and wherein the first audio wearable device is a first earmuff and the second audio wearable device is a second earmuff.

[0030] The first audio wearable device includes a first output transducer, for example, the audio device includes a first output transducer. The output transducer can be considered as an audio output transducer. The output transducer can be considered as an output transducer that converts an electrical audio signal into a sound wave. The audio output transducer is configured to produce an audible output, allowing a user to listen to audio from various electronic devices or systems (e.g., the audio device disclosed herein). The output transducer may include one or more speakers and / or receivers configured to convert the electrical audio signal into a sound wave.

[0031] The first audio wearable device includes a first wireless communication interface.

[0032] In one or more example audio devices, the wireless interface (e.g., the first wireless communication interface) includes a wireless transceiver (also referred to as a radio transceiver) and an antenna for wirelessly transmitting and receiving input signals, such as audio signals and / or data signals, for example, for wirelessly transmitting output signals and / or wirelessly receiving wireless input signals. The audio device (e.g., the first audio wearable device and / or the first wireless communication interface) can be configured to wirelessly communicate with one or more electronic devices (e.g., another audio device, another audio wearable device, a smart phone, a tablet, a computer, and / or a smart watch). The audio device (e.g., the first audio wearable device and / or the first wireless communication interface) optionally includes an antenna for converting one or more wireless input audio signals into antenna output signals. The audio device (e.g., the first audio wearable device and / or the first wireless communication interface) can be configured to wirelessly communicate via a wireless communication system (e.g., a short-range wireless communication system, such as Wi-Fi, Bluetooth, Zigbee, IEEE 802.11, IEEE 802.15, infrared, etc.).

[0033] The audio device (e.g., the first audio wearable device and / or the first wireless communication interface) can be configured for wireless communication via a wireless communication system, e.g., a 3GPP system, e.g., a 3GPP system supporting one or more of: New Radio (NR) narrowband IoT (NB-IoT) and Long Term Evolution Enhanced Machine Type Communication (LTE-M) millimeter wave communication, e.g., millimeter wave communication in a licensed band, e.g., device-to-device millimeter wave communication in a licensed band.

[0034] In one or more example audio devices, the interface of the audio device (e.g., the first audio wearable and / or the first wireless communication interface) includes one or more of the following: a Bluetooth interface, a Bluetooth low energy interface, and a magnetic induction interface. For example, the interface of the audio device may include a Bluetooth antenna and / or a magnetic interference antenna.

[0035] In one or more example audio devices, an interface (e.g., a first audio wearable device) may include a connector for wired communication via a connector (e.g., by using a cable). The connector may connect one or more microphones to the audio device. The connector may connect the audio device to an electronic device, e.g., for a wired connection. The connector may be viewed as an electrical connector, e.g., a physical connector for connecting the audio device to another device via a wire. The connector may connect the first audio wearable device to the second audio wearable device.

[0036] One or more interfaces may be or include a wireless interface, e.g., a transmitter and / or receiver, and / or a wired interface, e.g., a connector for physical coupling. For example, an audio device (e.g., a first audio wearable device) may have an input interface configured to receive data (e.g., a microphone input signal).

[0037] Furthermore, the audio device (eg, the first audio wearable device) may include one or more microphones, eg, a first primary microphone, optionally a first secondary microphone, optionally a first tertiary microphone, and optionally a first quaternary microphone.

[0038] The first audio wearable device includes one or more first processors. The one or more first processors can be configured to process audio at the first audio wearable device.

[0039] An audio device (e.g., a first audio wearable device) is configured to obtain a first audio signal, for example, using one or more first processors (e.g., via a first wireless communication interface). The first audio signal may be considered a first audio input signal. The first audio signal may be considered an audio signal specifically for the first audio wearable device, for example, different from the second audio signal. In other words, the first audio signal and the second audio signal as disclosed herein may be different individual signals, for example, each signal being configured for its audio wearable device, respectively. For example, the first audio signal may be a first pre-processed binaural signal that is different for each audio wearable device. The first audio signal may be an audio signal received from a remote device, for example, associated with one or more users with whom a user of the audio device is communicating. The first audio signal may be an audio signal received from an electronic device such as a computer, a mobile phone, a tablet, and / or a television. The first audio signal may indicate or represent audio from video content and / or audio content, for example, voice, a movie, a song, etc. from a remote user.

[0040] The audio device may be considered, for example, as a conference audio device, for example, configured to be used by one party (e.g., one or more users at the near end) to communicate with one or more other parties (e.g., one or more users at the far end). An audio device configured to act as a receiver device may also be configured to act as a transmitter device when transmitting an output signal back to the far end. The receiver audio device and the transmitter audio device may therefore switch between being a receiver audio device and a transmitter audio device. The audio device may be considered as an intelligent audio device. The audio device may be used for conferences and / or meetings between two or more parties that are far away from each other. The audio device may be used by one or more users near (also referred to as near end) the location of the audio device. The audio device may be configured to, for example, use an output transducer (e.g., a first output transducer) and output, for example, a filtered audio signal, for example, a first filtered audio signal based on a first audio signal (output by the audio device at the receiving end). The first filtered audio signal may be considered as an audio output signal, which is the output of the first output transducer at the near end where the audio device and the user of the audio device are located.

[0041] The audio device (e.g., a first audio wearable device) is configured to obtain head orientation data indicating the head orientation of a user of the audio device, for example using one or more first processors (e.g., via a first wireless communication interface). The head orientation data can be viewed as data, for example, indicating information or measurements that describe the position and / or orientation of a person's (e.g., a user of the audio device) head. The head orientation data can be data indicating the head orientation of the user in three-dimensional space. The head orientation data can include one or more angles or coordinates representing a rotation or tilt of the user's head along an X, Y, and / or Z axis.

[0042] Head orientation data may be obtained using various techniques (e.g., motion capture systems, inertial measurement units (IMUs), and / or computer vision algorithms). Head orientation data may be obtained using one or more sensors, cameras, and / or a combination of both to track movement and orientation of the head. The head orientation data may indicate rotation of the head of a user of the audio device.

[0043] The user's head orientation may be considered as the orientation of the user's head relative to a starting position, a reference position, or an initial position of the user's head.

[0044] In one or more example audio devices, the head orientation data includes a head rotation angle. The head rotation angle can be measured relative to the user's line of sight at a reference position of the user's head. The head rotation angle can be considered as an angle measured relative to the user's line of sight at a reference position of the user's head. For example, the reference position of the user's head can be the starting position of the user's head when an audio signal (e.g., a first audio signal) is started to be obtained at the audio device and / or when the user starts to wear the audio device. The head rotation angle can be considered as an angle measured along a substantially horizontal plane in front of the user (e.g., an azimuth plane). Alternatively or additionally, the reference position of the user's head can be the starting position of the user's head when an audio signal (e.g., a first filtered audio signal) is started to be output at the audio device. The head rotation angle can be considered as an azimuth angle relative to the user.

[0045] In other words, the reference position of the user's head may be the starting position of the user's head at a reference time T_0 when an audio signal (eg, a first audio signal) starts to be obtained at the audio device and / or when the user starts to wear the audio device.

[0046] The user's line of sight may be considered as the approximate direction the user is looking at at a reference position of the user's head and / or at a reference time T_0. It will be appreciated that the audio signal may have an incident direction relative to the approximate direction the user is looking at at a reference position of the user's head.

[0047] In one or more example audio devices, the audio device includes a head orientation sensor configured to provide head orientation data, e.g., first head orientation data. The first audio wearable device includes a head orientation sensor. In one or more example audio devices, the second audio wearable device includes a head orientation sensor, e.g., a second orientation sensor configured to provide second head orientation data. The head orientation sensor can be viewed as a sensor configured to measure and / or determine the head orientation of a user of the audio device. For example, the head orientation sensor can be viewed as a motion sensor, e.g., an inertial measurement unit, an IMU, an accelerometer, a gyroscope, and / or a magnetometer. The head orientation sensor can be configured to generate or provide head orientation data or at least a portion of the head orientation data. The head orientation sensor can be configured to track a combination of movement and orientation of the head. The head orientation sensor can be configured to generate head orientation data indicating a rotation of the head of the user of the audio device.

[0048] In one or more example audio devices, the audio device is configured to send head orientation data from a first audio wearable device to a second audio wearable device. For example, when only the first audio wearable device includes a head orientation sensor or the first audio wearable device receives head orientation data, the audio device may be configured to send head orientation data from the first audio wearable device to the second audio wearable device. The audio device may be configured to send head orientation data from the first audio wearable device to the second audio wearable device via a first wireless communication interface and / or using one or more first processors. In other words, the head orientation data may be generated at the first audio wearable device and forwarded to the second audio wearable device. This allows separate processing of audio signals at the first audio wearable device and the second audio wearable device, while having a simpler audio device with only one head orientation sensor.

[0049] In one or more example audio devices, the audio device is configured to obtain head orientation data from an external head orientation sensor via a first wireless communication interface. In other words, the audio device can be configured to obtain head orientation data from a head orientation sensor external to the audio device. For example, the external head orientation sensor can be located in an electronic device as disclosed herein to which the audio device is connected and / or communicates. The electronic device can, for example, include a computer vision system that acts as a head orientation sensor that is configured to determine and / or generate head orientation data.

[0050] An audio device (e.g., a first audio wearable device) is configured to determine a first filter based on head orientation data, for example using one or more first processors, wherein the first filter is based on a first delay and / or a first level compensation. Determining the first filter based on the head orientation data may include determining the first filter based on the head orientation data, for example, using the head orientation data as an input when determining the first filter. For example, the first filter may be determined based on a head rotation angle as disclosed herein. Determining the first filter may include retrieving a filter from a lookup table based on the head orientation data.

[0051] The first filter can be considered as a filter to be applied to the first audio signal. The first filter can be determined at the first audio wearable device (e.g., at one or more first processors). The first filter can be considered as a filter used to compensate for the head orientation of the user of the audio device at the first audio wearable device. The first filter may include, for example, a first delay and / or a first level compensation to be applied to the first audio signal. In other words, the audio device (e.g., the first audio wearable device) is configured to determine the first delay and / or the first level compensation, and the first filter is determined based on the first delay and / or the first level compensation and / or as an input when determining the first filter.

[0052] The first filter may be configured to modify the interaural time difference ITD, for example by using a first delay and / or to modify the interaural level difference ILD, for example by using a first level compensation. The first delay may be configured to modify the ITD of the first audio signal, for example compared to the second audio signal, by being applied to the first audio signal. The first delay may be viewed as a delay in the time domain.

[0053] In one or more example audio devices, the first filter is a time domain filter and / or the second filter is a time domain filter.

[0054] The first level compensation may be configured to modify the ILD of the first audio signal by being applied to the first audio signal, for example, compared to the second audio signal. The first level compensation may be considered as compensation in the amplitude domain. In other words, the first filter may be an amplitude domain filter, for example, a gain filter. In other words, applying the first filter may include applying a first gain to the first audio signal. The first level compensation may be considered as sound level compensation between the first audio wearable device and the second audio wearable device, for example, sound level compensation between the first audio signal and the second audio signal. It will be understood that the level compensation may be applied to only one audio wearable device, for example, only to the first audio wearable device. The level compensation may also be applied on both the first audio wearable device and the second audio wearable device.

[0055] The audio device (e.g., the first audio wearable device) is configured to apply a first filter to the first audio signal, for example, using one or more first processors, to compensate for the user's head orientation, for providing a first filtered audio signal. In other words, the audio device (e.g., the first audio wearable device) is configured to apply a first delay and / or a first level compensation to the first audio signal, for example, using one or more first processors, to compensate for the user's head orientation, for providing a first filtered audio signal. The first filtered audio signal may also be represented as a first filtered audio output signal. By applying the first filter to the first audio signal, the audio device (e.g., the first audio wearable device) may compensate for the perception of a sound or virtual soundscape (e.g., the first audio signal and / or the second audio signal) moving along the head when the user moves / turns his head. The first filtered audio signal may be considered as a processed first audio signal configured to be output at the first audio wearable device. The first filtered audio signal may be considered as a first audio signal to which the first delay and / or the first level compensation have been applied. The first filtered audio signal may be considered as a first audio signal that has been compensated for the head orientation.

[0056] The audio device (e.g., a first audio wearable device) is configured to output a first filtered audio signal at the first audio wearable device. Outputting the first filtered audio signal may include outputting the first filtered audio signal at a receiver or speaker of the first audio wearable device for a user of the audio device to hear or listen to.

[0057] In one or more example audio devices, the first delay is based on a base delay and / or a first compensation delay. In one or more example audio devices, applying the first filter includes applying a first delay (e.g., a base delay and a first compensation delay) to a first audio signal. The base delay can be considered as a constant delay, for example, a constant time delay to be applied to the first audio signal. The base delay can be in the range of 0 ms to 5 ms, preferably in the range of 0.5 ms to 3 ms, more preferably in the range of 0.5 ms to 1 ms, and for example the base delay is 0.7 ms. The base delay can be applied so as to delay the first audio signal and / or the second audio signal by a constant delay. The base delay can be configured to apply the same constant delay to both the first audio signal and the second audio signal, for example, so as to delay the first audio signal and the second audio signal in the same manner. It can be understood that the base delay and / or the first compensation delay are used to modify the ITD between the first audio signal and the second audio signal. Applying the first filter (e.g., the first delay) can include multiplying the first delay by a filter function, for example, applying the first delay to the first audio signal so that a phase shift occurs, thereby causing a delay. In one or more example audio devices, applying the first filter may include adding a constant time delay (eg, the first delay) to the first audio signal.

[0058] It will be appreciated that applying the first filter (e.g., applying the base delay and the first compensation delay) may include applying a total delay, e.g., the first delay. In other words, the first delay may be determined based on the base delay and / or the first compensation delay, e.g., by adding or subtracting the base delay and the first compensation delay.

[0059] In one or more example audio devices, the first compensating delay is configured to modify an interaural time difference between the first audio signal and the second audio signal, and the second compensating delay is configured to modify the interaural time difference between the first audio signal and the second audio signal.

[0060] In one or more example audio devices, the first level compensation is configured to modify an interaural level difference between the first audio signal and the second audio signal, and the second level compensation is configured to modify the interaural level difference between the first audio signal and the second audio signal.

[0061] In one or more example audio devices, the base delay is a constant delay configured to be applied to the first audio signal and the second audio signal.

[0062] In fact, when a person moves and rotates his head, the first audio signal arriving at the first ear and the second audio signal arriving at the second ear will not arrive at the same time and / or will not arrive with the same energy (e.g., sound level / volume) in theory, because the corresponding ears will not have the same distance to the transmitting audio source. There will be a delay and / or sound level / volume difference between the reception of the first audio signal arriving at the first ear and the second audio signal arriving at the second ear. This delay and / or sound level allows a person to perceive where the sound is coming from relative to the person and perceive the location of the sound source emitting the sound in space. The first filter (e.g., the first delay and / or the first level compensation) can be configured to replicate this mechanism for the audio signal at the audio device. As previously described, when there is a "virtual" sound source, the user of the audio device will perceive the sound and locate the audio source emitting the sound following the movement of his head. This will give a very unnatural and confusing sound and the perception of the location of the sound source emitting the sound. Since the audio signal cannot be advanced in time, the basic delay allows the first audio signal and the second audio signal to be evenly delayed so that further delays can be applied, for example, a first compensation delay that can be negative is applied. In other words, the base delay allows for the application of a negative first compensating delay and / or a negative second compensating delay.

[0063] The first compensating delay may be considered as a variable delay that depends on the head orientation data, for example, a variable time delay to be applied to the first audio signal. For example, the first compensating delay may be based on the head rotation angle. The audio device (e.g., the first audio wearable device) may be configured to determine the first compensating delay by determining which time delay to apply to the first audio signal and / or the second audio signal according to the head rotation angle measured relative to the user's line of sight at a reference position of the user's head. In one or more example audio devices, it may be assumed that the virtual audio source emitting the audio signal is located in front of the user, for example, within a range of -90° to +90°, -75° to +75°, -60° to +60°, -50° to +50°, -30° to +30°, or -20° to +20° relative to the user's line of sight at a reference position of the user's head. In other words, it may be assumed that the virtual soundscape is primarily located in the frontal hemisphere of the user. Applying a first filter (e.g., a base delay and / or a first compensating delay) may emphasize the perceived sound as being fixed at a certain position or range of positions in front of the user.

[0064] In one or more example audio devices, the second audio wearable device includes a second output transducer, for example, the audio device includes the second output transducer.

[0065] In one or more example audio devices, the second audio wearable device includes a second wireless communication interface. The second audio wearable device includes one or more second processors. The one or more second processors may be configured to process audio at the second audio wearable device. In one or more example audio devices, the second audio wearable device is configured to obtain a second audio signal, for example, using the one or more second processors (e.g., via the second wireless communication interface).

[0066] In one or more example audio devices, the second audio wearable device is configured to obtain head orientation data indicating a head orientation of a user of the audio device, for example using one or more second processors (e.g., via a second wireless communication interface). In one or more example audio devices, the audio device (e.g., the second audio wearable device) is configured to determine a second filter based on the head orientation data, for example using one or more second processors, wherein the second filter is based on a second delay and / or a second level compensation. In one or more example audio devices, the audio device (e.g., the second audio wearable device) is configured to apply a second filter to the second audio signal, for example using one or more second processors, to compensate for the user's head orientation to provide a second filtered audio signal. The audio device (e.g., the second audio wearable device) is configured to output the second filtered audio signal at the second audio wearable device.

[0067] It is understood that the description associated with the first audio wearable device can be equivalently applied to the description of the second audio wearable device. For example, the description of the first output transducer can also be applied to the second output transducer, the description of the first wireless communication interface can also be applied to the second wireless communication interface, and so on. The second audio wearable device can include a second memory.

[0068] In one or more example audio devices, the second delay is based on the base delay and the second compensating delay. In one or more example audio devices, applying the second filter includes applying the second delay (eg, the base delay and the second compensating delay) to the second audio signal.

[0069] In one or more example audio devices, applying the second filter includes applying a second delay (e.g., a base delay and a second compensating delay) to the second audio signal. The base delay can be considered as a constant delay, for example, a constant time delay to be applied to the second audio signal. The base delay can be in the range of 0 ms to 5 ms, preferably in the range of 0.5 ms to 3 ms, more preferably in the range of 0.5 ms to 1 ms, and for example the base delay is 0.7 ms. The base delay can be applied so as to delay the first audio signal and / or the second audio signal by a constant delay. The base delay can be configured to apply the same constant delay to both the first audio signal and the second audio signal, for example, so as to delay the first audio signal and the second audio signal in the same manner. It can be understood that the base delay, the first compensating delay and / or the second compensating delay are used to modify the ITD between the first audio signal and the second audio signal. Applying the second filter (e.g., the second delay) can include multiplying the second delay by a filter function, for example, applying the second delay to the second audio signal so that a phase shift occurs, thereby causing a delay. In one or more example audio devices, applying the second filter may include adding a constant time delay (eg, the second delay) to the second audio signal.

[0070] The second compensating delay may be considered as a variable delay that depends on the head orientation data, for example, a variable time delay to be applied to the second audio signal. For example, the second compensating delay may be based on the head rotation angle. The audio device (e.g., the second audio wearable device) may be configured to determine the second compensating delay by determining which time delay to apply to the first audio signal and / or the second audio signal according to the head rotation angle measured relative to the user's line of sight at a reference position of the user's head. In one or more example audio devices, it may be assumed that the virtual audio source emitting the audio signal is located in front of the user, for example, within a range of -90° to +90°, -75° to +75°, -60° to +60°, -50° to +50°, -30° to +30°, or -20° to +20° relative to the user's line of sight at a reference position of the user's head. In other words, it may be assumed that the virtual soundscape is primarily located in the frontal hemisphere of the user. Applying a second filter (e.g., a base delay and / or a second compensating delay) may emphasize the perceived sound as being fixed at a certain position or range of positions in front of the user. It will be appreciated that when processing occurs only on the first audio wearable device, the second compensation delay may be equal to zero and / or may not be required.

[0071] In one or more example audio devices, the first audio signal and / or the second audio signal are binaural audio signals. The first audio signal and / or the second audio signal may be considered as audio signals that have been generated to create a spatial perception of sound sources positioned in a space around a user of the audio device. For example, the first audio signal and / or the second audio signal may be considered as audio signals that have been generated by embedding spatial information when recording the audio signals, for example, by recording the audio signals with a virtual head and / or synthesizing by applying spatial effects using signal processing.

[0072] In one or more example audio devices, the first audio signal and / or the second audio signal is a stereo audio signal, a mono audio signal, a surround sound audio signal, and / or a multi-channel audio signal.

[0073] In one or more example audio devices, the first filter and / or the second filter are frequency dependent.

[0074] In one or more example audio devices, the first compensation delay is frequency-based and / or the second compensation delay is frequency-based. In other words, the first compensation delay and / or the second compensation delay may be frequency-dependent.

[0075] In one or more example audio devices, the first filter and / or the second filter may be or include a head-related transfer function HRTF filter. HRTF filters may be viewed as digital signal processing filters designed to simulate the acoustic filtering characteristics of an individual's head, ear, and / or torso. HRTF filters may be used to simulate the perception of three-dimensional sound localization and spatial cues experienced by a user. HRTF filters take an audio signal as input and apply frequency-dependent modifications to replicate the way sound waves interact with the listener's unique anatomical structure. HRTF filters may depend on the frequency and / or position of the audio source. HRTF filters may consist of a set of frequency response measurements or mathematical models that represent how sound modifies the characteristics of the sound when it arrives at each ear. These measurements or models may be derived empirically, for example, through studies and experiments conducted on human subjects or dummies. When applied to an audio signal, the HRTF filter changes the spectral content and temporal characteristics of the signal to replicate the cues that a user would typically perceive in a real-world listening environment. This may include differences in arrival time, intensity, and / or spectral shaping that occur when sound waves arrive at each ear from different directions. By convolving an audio signal with a HRTF filter, an output can be provided that simulates an auditory experience of sound sources originating from different spatial locations. This can enable the creation of an immersive audio environment, such as a virtual reality or a binaural audio system, in which sounds appear to come from a specific direction and distance, enhancing the listener's sense of realism and spatial accuracy. It will be appreciated that the audio device is configured to apply a first HRTF filter to a first audio signal by using a first audio wearable device, and to apply a second HRTF filter to a second audio signal by using a second audio wearable device. Thus, the first filter and the second filter are applied on different entities, namely the first audio wearable device and the second audio wearable device, respectively. The HRTF filter may include a first part based on (e.g., dependent on) head orientation data and a second part based on (e.g., dependent on) the frequency of the audio signal. The first HRTF filter may be considered a right HRTF filter, and the second HRTF filter may be considered a left HRTF filter. The first HRTF filter may, for example, be:

[0076]

[0077] wherein HRTF_1(α) is a first portion that depends on the head rotation angle α and on the frequency of the first audio signal, and wherein HRTF_1(0) is a second portion that depends on the frequency of the first audio signal but not on the head rotation angle α.

[0078] The second HRTF filter can be, for example:

[0079]

[0080] wherein HRTF_2(α) is a first portion that depends on the head rotation angle α and on the frequency of the second audio signal, and wherein HRTF_2(0) is a second portion that depends on the frequency of the second audio signal but not on the head rotation angle α.

[0081] In one or more example audio devices, the first filter and / or the second filter may be or include a head-related impulse response HRIR filter. The HRIR filter may be viewed as a digital signal processing filter that represents the acoustic characteristics of the user's head, ears, and torso as an impulse response. Unlike HRTF filters that work in the frequency domain, HRIR filters operate in the time domain. The HRIR filter may be determined by capturing the response of the user's ear to an impulse or short-duration sound stimulus. This involves measuring the sound signal that arrives at each ear when the impulse passes through the user's unique anatomical structure. The HRIR filter may be determined, for example, by performing binaural recordings, in which microphones are placed at the entrance of each ear canal to capture the acoustic response. The impulse response obtained for each ear may represent the complete acoustic characteristics of the user's HRTF at various angles and frequencies. Each impulse response is a time domain representation of how the sound is filtered, delayed, and shaped when it arrives at each ear. Applying the HRIR filter to an audio signal may include convolving the audio signal with the corresponding impulse response of the desired spatial position and frequency. When the HRIR filter is applied, the audio signal is modified by including the time domain characteristics of the user's personalized HRIR. This can, for example, produce binaural audio output that accurately simulates the perception of sound sources coming from specific directions and distances. HRIR filters can enhance the immersive experience by providing accurate sound localization and spatial cues that closely resemble real-world listening scenarios.

[0082] A method of operating an audio device is disclosed. The method may be viewed as a method of head orientation based processing. The method includes obtaining a first audio signal. The method includes obtaining head orientation data indicating a head orientation of a user. The method includes determining a first filter based on the head orientation data, wherein the first filter is based on a first delay and / or a first level compensation. The method includes applying the first filter to the first audio signal to compensate for the user's head orientation to provide a first filtered audio signal. The method includes outputting the first filtered audio signal.

[0083] It should be understood that descriptions regarding features of an audio device also apply to corresponding features in a method of operating an audio device as disclosed herein, and vice versa.

[0084] Figure 1An example audio device is schematically shown, for example, an audio device 300 according to the present disclosure. The audio device 300 may be considered an audio communication device. The audio device 300 includes a first audio wearable device 300A adapted to be worn at a first ear of a user and a second audio wearable device 300B adapted to be worn at a second ear of the user. The first audio wearable device 300A includes a first output transducer 304A, a first wireless communication interface 303A, one or more first processors 302A, and a first memory 301A. The audio device 300 (e.g., the first audio wearable device 300A) is configured to obtain a first audio signal, for example, using one or more first processors 302A (e.g., via the first wireless communication interface 303A). The audio device 300 (e.g., the first audio wearable device 300A) is configured to obtain head orientation data indicating a head orientation of a user of the audio device 300, for example, using one or more first processors 302A (e.g., via the first wireless communication interface 303A).

[0085] The audio device 300 (e.g., the first audio wearable device 300A) is configured to determine a first filter based on the head orientation data, for example using one or more first processors 302A, wherein the first filter is based on a first delay and / or a first level compensation. The audio device 300 (e.g., the first audio wearable device 300A) is configured to apply the first filter to the first audio signal, for example using one or more first processors 302A, to compensate for the head orientation of the user, to provide a first filtered audio signal. The audio device 300 (e.g., the first audio wearable device 300A) is configured to output the first filtered audio signal at the first audio wearable device 300A.

[0086] In one or more example audio devices, the second audio wearable device 300B includes a second output transducer 304B, for example, the audio device 300 includes the second output transducer 304B.

[0087] In one or more example audio devices, the second audio wearable device 300B includes a second wireless communication interface 303B. In one or more example audio devices, the second audio wearable device 300B includes one or more second processors 302B. The one or more second processors 302B may be configured to process audio at the second audio wearable device 300B. In one or more example audio devices, the second audio wearable device 300B is configured to obtain a second audio signal, for example, using the one or more second processors 302B (e.g., via the second wireless communication interface 303B).

[0088] In one or more example audio devices, the second audio wearable device 300B is configured to obtain head orientation data indicating a head orientation of a user of the audio device 300, for example, using one or more second processors 302B (e.g., via a second wireless communication interface 303B). In one or more example audio devices, the audio device 300 (e.g., the second audio wearable device 300B) is configured to determine a second filter based on the head orientation data, for example, using one or more second processors 302B, wherein the second filter is based on a second delay and / or a second level compensation. In one or more example audio devices, the audio device 300 (e.g., the second audio wearable device 300B) is configured to apply the second filter to the second audio signal, for example, using one or more second processors 302B, to compensate for the head orientation of the user, for providing a second filtered audio signal. In one or more example audio devices, the audio device 300 (e.g., the second audio wearable device 300B) is configured to output the second filtered audio signal at the second audio wearable device 300B, for example, using one or more second processors 302B and via a second output transducer 304B.

[0089] In one or more example audio devices, the audio device 300 includes a head orientation sensor configured to provide head orientation data, wherein a first audio wearable device 300A includes a head orientation sensor, for example, a first head orientation sensor 305A.

[0090] In one or more example audio devices, the second audio wearable device 300B includes a head orientation sensor, such as, for example, a second head orientation sensor 305B.

[0091] In one or more example audio devices, the audio device 300 is configured to transmit head orientation data from a first audio wearable device 300A to a second audio wearable device 300B, for example, via the first wireless communication interface 303A and / or the second wireless communication interface 303B.

[0092] Figure 2A and Figure 2B An example conventional audio device, for example, audio device 200 is schematically shown. Figure 2A , a first audio signal S1 is received at the audio device 200, for example, at the first audio wearable device 200A, and a second audio signal S2 is received at the audio device 200, for example, at the second audio wearable device 200B. The user's head is in a reference position of the user's head, wherein the angle α is equal to 0.

[0093] exist Figure 2BIn the example, the user has moved his head by an angle α different from 0 relative to the reference position of the user's head. The first audio signal S1 and the second audio signal S2 are not processed and are simply output by the audio device 200. In this case, the user of the audio device 200 perceives the sound and locates the audio source emitting the sound following the movement of his head. This gives the user a very unnatural and confusing perception of the sound and the location of the sound source emitting the sound.

[0094] FIG. 3A to FIG. 3C An example audio device using the technology disclosed herein according to the present disclosure is schematically shown, for example, an audio device 300. The audio device 300 includes a first audio wearable device 300A adapted to be worn at a first ear of a user and a second audio wearable device 300B adapted to be worn at a second ear of the user. Figure 3A , a first audio signal S1 is obtained / received at the audio device 300, for example, obtained / received at the first audio wearable device 300A, and a second audio signal S2 is obtained / received at the audio device 300, such as, received at the second audio wearable device 300B. The user's head is in a reference position of the user's head, where the angle α is equal to 0. Since the user's head is in the reference position of the user's head, head orientation compensation is not required. In other words, the first filter will be equal to 1 because the head rotation angle is 0. Therefore, the audio device 300 is configured to output the first audio signal S1 without head orientation compensation at the first audio wearable device 300A, for example, to let the first audio signal S1 pass as is. It can be understood that the audio device 300 is configured to output the second audio signal S2 without head orientation compensation at the second audio wearable device 300B, for example, to let the second audio signal S2 pass as is.

[0095] exist Figure 3BIn the example, the user has moved his head by an angle α different from 0 relative to a reference position of the user's head. The first audio wearable device 300A is configured to obtain head orientation data indicating the head orientation of the user. In this example, the head orientation data includes a head rotation angle α, wherein the head rotation angle α is measured relative to a line of sight L_1 of the user at a reference position of the user's head. It can be understood that the head rotation angle α is measured between a first line of sight L_1 at the reference position of the user's head and a second line of sight L_2 at a current position of the user's head. The first audio wearable device 300A is configured to determine a first filter H1(α) based on the head orientation data, wherein the first filter H1(α) is based on a first delay and / or a first level compensation. The first audio wearable device 300A is configured to apply the first filter H1(α) to the first audio signal S1 to compensate for the user's head orientation for providing a first filtered audio signal. The first audio wearable device 300A is configured to output the first filtered audio signal at the first audio wearable device 300A. In one or more example audio devices, it is understood that only the first filter H1 can be applied to the first audio signal S1, rather than applying the second filter H2 to the second audio signal S2. In other words, head orientation can be compensated by applying the first filter on one side / ear of the user.

[0096] In one or more example audio devices, the second audio wearable device 300B is configured to obtain a second audio signal S2.

[0097] In one or more example audio devices, the second audio wearable device 300B is configured to obtain head orientation data indicating a head orientation of a user of the audio device 300. In one or more example audio devices, the audio device 300 (e.g., the second audio wearable device 300B) is configured to determine a second filter H2 (α) based on the head orientation data, wherein the second filter H2 (α) is based on a second delay and / or a second level compensation. In one or more example audio devices, the audio device 300 (e.g., the second audio wearable device 300B) is configured to apply the second filter H2 (α) to the second audio signal S2 to compensate for the head orientation of the user to provide a second filtered audio signal. In one or more example audio devices, the audio device 300 (e.g., the second audio wearable device 300B) is configured to output a second filtered audio signal at the second audio wearable device 300B.

[0098] In one or more example audio devices, the audio device 300 includes a head orientation sensor configured to provide head orientation data, wherein a first audio wearable device 300A includes a head orientation sensor, for example, a first head orientation sensor 305A.

[0099] In one or more example audio devices, the second audio wearable device 300B includes a head orientation sensor, such as, for example, a second head orientation sensor 305B.

[0100] In one or more example audio devices, the audio device 300 is configured to send 50 head orientation data from the first audio wearable device 300A to the second audio wearable device 300B. In one or more example audio devices, the audio device 300 is configured to send 50 head orientation data from the audio device 300 to the first audio wearable device 300A.

[0101] In one or more example audio devices, the first audio signal S1 and / or the second audio signal S2 are binaural audio signals.

[0102] In one or more example audio devices, the first filter H1 (α) is a time domain filter and / or the second filter H2 (α) is a time domain filter. The time domain filter may be, for example, a finite impulse response FIR filter.

[0103] In one or more example audio devices, the first filter H1 (α) and / or the second filter H2 (α) are frequency dependent.

[0104] In one or more example audio devices, the first filter H1 (α) is frequency-based. In other words, the first compensation delay and / or the second compensation delay may be frequency-dependent. In one or more example audio devices, the first filter H1 (α) and / or the second filter H2 (α) may be or include a head-related transfer function HRTF filter.

[0105] In one or more example audio devices, applying the first filter H1 (α) to the first audio signal S1 is performed separately from applying the second filter H2 (α) to the second audio signal S2, and wherein the first filtered signal is determined separately from the second filtered signal.

[0106] In one or more example audio devices, the first audio wearable device 300A is a first earpiece and the second audio wearable device 300B is a second earpiece.

[0107] In one or more example audio devices, the first audio wearable device 300A is a first earmuff and the second audio wearable device 300B is a second earmuff.

[0108] Figure 3C An example audio device and a schematic diagram showing an example audio device according to the present disclosure to which the techniques disclosed herein are applied are shown. Figure 3B A similar scene in Figure 3C In the figure, it is shown that Figure 3B Compared to different implementations, different types of filters are applied. Figure 3C In the example of , a constant filter (e.g., a second filter H'2(α)) is applied to the second audio signal, e.g., the second filter H'2(α) is a constant. The second filter H'2(α) includes a base delay BD. Therefore, the variable filter is only applied to the first audio wearable device, e.g., only to the first audio signal. The first filter can be considered to be head orientation dependent. The first filter H'1(α)=BD·H1(α) / H2(α). It will be appreciated that H1(α) / H2(α) can be approximated by pure delay and / or gain / attenuation, where the delay and / or gain / attenuation depends on α. ​​H1(α) / H2(α) may or may not be frequency dependent. H1(α) / H2(α) may be non-causal in some cases, but by multiplying H1(α) / H2(α) by an appropriate delay, e.g., a base delay BD, D·H1(α) / H2(α) may become causal.

[0109] Figure 4A and Figure 4B An example audio device, such as audio device 300 , according to the present disclosure using the techniques disclosed herein is schematically illustrated. Figure 4A and Figure 4B Shown as Figure 3A and Figure 3B Similar audio devices and similar scenarios disclosed. Figure 4A and Figure 4B In , the first delay D1 is based on the base delay BD and the first compensating delay CD(α). Applying the first filter H1(α) includes applying the first delay D1 (eg, the base delay BD and the first compensating delay CD(α)) to the first audio signal S1. Figure 4A and Figure 4B In the example of , applying the first filter may include applying the first delay D1, eg, only applying the first delay D1.

[0110] exist Figure 4A In , the user's head is in a reference position of the user's head, where the angle α (e.g., the head rotation angle) is equal to 0. Since the user's head is in the reference position of the user's head, head orientation compensation may not be required. In other words, the first compensation delay CD(α) will be equal to 0 because the head rotation angle is 0. Therefore, in Figure 4AIn one or more example audio devices, applying the first filter includes applying a first delay to (e.g., applying a first delay including a base delay BD to) a first audio signal S1. In one or more example audio devices, applying the second filter includes applying a second delay to (e.g., applying a second delay including a base delay BD to) a second audio signal S2. It is understood that when the user's head is in a reference position of the user's head, the same delay is applied to the first audio signal S1 and the second audio signal S2. In one or more example audio devices, the same base delay may be applied to the first audio signal S1 and the second audio signal S2.

[0111] exist Figure 4B , the user has moved his head relative to the reference position of the user's head by an angle α different from 0. In this example, the head orientation data includes a head rotation angle α, wherein the head rotation angle α is measured relative to a line of sight L_1 of the user at the reference position of the user's head. It can be understood that the head rotation angle α is measured between a first line of sight L_1 at the reference position of the user's head and a second line of sight L_2 at the current position of the user's head.

[0112] Since the user's head has moved, the audio device 300 must compensate for the head orientation. In other words, the first compensation delay CD(α) will be different from 0 because the head rotation angle is different from 0. Therefore, in Figure 4B In one or more example audio devices, applying a first filter includes applying a first delay to (e.g., applying a first delay including a base delay BD and CD(α) to) a first audio signal S1. In one or more example audio devices, applying a second filter includes applying a second delay to (e.g., applying a second delay including only a base delay BD to) a second audio signal S2. It will be appreciated that different filters may be applied to the first audio signal S1 and the second audio signal S2, but with the same base delay BD.

[0113] In one or more example audio devices, the base delay BD is a constant delay configured to be applied to the first audio signal S1 and the second audio signal S2.

[0114] In one or more example audio devices, the second delay D2 is based on a base delay BD and a second compensating delay CD_2 (α) (not shown). In one or more example audio devices, applying the second filter includes applying the second delay D2 (eg, the base delay BD and the second compensating delay CD_2 (α)) to the second audio signal S2.

[0115] In one or more example audio devices, the first compensating delay CD(α) is configured to modify the interaural time difference ITD between the first audio signal S1 and the second audio signal S2. In one or more example audio devices, the second compensating delay CD_2(α) is configured to modify the interaural time difference ITD between the first audio signal S1 and the second audio signal S2.

[0116] In one or more example audio devices, the first compensating delay CD(α) is frequency-based and / or the second compensating delay CD_2(α) is frequency-based.

[0117] The audio device 300 may be configured to perform FIG. 5A to FIG. 5C Any method disclosed in.

[0118] The processor 300C is configured to execute FIG. 5A to FIG. 5C any operations disclosed in (e.g., any one or more of S102, S104, S106, S108, S108A, S108B, S110, S112, S114, S114A, S114B, S116, S118, S120, S122, S124, S126, S128, S130).

[0119] The operations of the audio device 300 may be embodied in the form of executable logic routines (eg, lines of code, software programs, etc.) stored on a non-transitory computer-readable medium (eg, memory) and executed by the one or more processors 302 .

[0120] Furthermore, the operation of the audio device 300 can be considered as a method that the audio device 300 is configured to perform. In addition, although the functions and operations described can be implemented in software, such functions can also be performed via dedicated hardware or firmware or some combination of hardware, firmware and / or software.

[0121] The memory of the audio device may be one or more of a buffer, flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory, a random access memory (RAM), or other suitable devices. In a typical arrangement, the memory may include a non-volatile memory for long-term data storage and a volatile memory used as a system memory for the processor 302. The memory may exchange data with the processor 302 via a data bus. There may also be control lines and an address bus ( Figure 1 Memory is considered a non-transitory computer-readable medium.

[0122] The memory can be configured to store information in a portion of the memory, such as training audio data, audio data, latent space, training manifold, mapping parameters, and / or uncertainty parameters disclosed herein.

[0123] Figure 5A , Figure 5B and Figure 5C A flow chart of an example method (eg, method 100 ) is shown.

[0124] The audio device may be an audio device as disclosed herein, for example, Figure 1 and FIG. 2A to FIG. 4B The method may be viewed as a method of operating an audio device, for example, a method for filtering based on head orientation. The method 100 comprises obtaining S102 a first audio signal.

[0125] The method 100 comprises obtaining S104 head orientation data indicative of a head orientation of a user.

[0126] The method 100 comprises determining S106 a first filter based on the head orientation data, wherein the first filter is based on a first delay and / or a first level compensation.

[0127] The method 100 comprises applying S108 a first filter to the first audio signal to compensate for a head orientation of the user, thereby providing a first filtered audio signal.

[0128] The method 100 includes outputting a first filtered audio signal.

[0129] In one or more example methods, the first delay is based on a base delay and a first compensating delay, and wherein applying S108 the first filter includes applying S108A the base delay and the first compensating delay to the first audio signal.

[0130] In one or more example methods, the method 100 includes obtaining S110 a second audio signal.

[0131] In one or more example methods, the method 100 comprises determining S112 a second filter based on the head orientation data, wherein the second filter is based on a second delay and / or a second level compensation.

[0132] In one or more example methods, the method 100 includes applying S114 a second filter to the second audio signal for providing a second filtered audio signal.

[0133] In one or more example methods, method 100 includes outputting a second filtered audio signal.

[0134] In one or more example methods, the second delay is based on a base delay and a second compensating delay, and wherein applying S114 the second filter includes applying S114A the base delay and the second compensating delay to the second audio signal.

[0135] In one or more example methods, the method 100 includes applying S116 a constant delay to the first audio signal and the second audio signal.

[0136] In one or more example methods, the method 100 includes modifying S118 an interaural time difference between the first audio signal and the second audio signal using a first compensating delay.

[0137] In one or more example methods, the method 100 includes modifying S120 an interaural time difference between the first audio signal and the second audio signal using a second compensating delay.

[0138] In one or more example methods, the method 100 includes modifying S122 an interaural level difference between the first audio signal and the second audio signal using a first level compensation.

[0139] In one or more example methods, the method 100 includes modifying S124 an interaural level difference between the first audio signal and the second audio signal using a second level compensation.

[0140] In one or more example methods, the method 100 includes sending S126 head orientation data from a first audio wearable device of an audio device to a second audio wearable device.

[0141] In one or more example methods, method 100 includes obtaining S128 head orientation data from an external head orientation sensor.

[0142] In one or more example methods, the head orientation data comprises a head rotation angle, and wherein the method comprises measuring S130 the head rotation angle relative to a line of sight of the user at a reference position of the user's head.

[0143] In one or more example methods, the method 100 includes applying S108 the first filter to the first audio signal separately from applying S114 the second filter to the second audio signal, and determining S108B the first filtered signal separately from determining S114B the second filtered signal.

[0144] Examples of audio devices, systems, and methods according to the present disclosure are set forth in the following items:

[0145] Item 1. An audio device, comprising a first audio wearable device adapted to be worn at a first ear of a user and a second audio wearable device adapted to be worn at a second ear of the user, the first audio wearable device comprising:

[0146] The first output transducer,

[0147] a first wireless communication interface,

[0148] one or more first processors, and

[0149] a first memory;

[0150] Wherein, the first audio wearable device is configured as:

[0151] Obtaining a first audio signal via a first wireless communication interface;

[0152] obtaining head orientation data indicating a head orientation of a user;

[0153] determining a first filter based on the head orientation data, wherein the first filter is based on a first delay and / or a first level compensation;

[0154] applying a first filter to the first audio signal to compensate for the user's head orientation to provide a first filtered audio signal, and

[0155] A first filtered audio signal is output at the first audio wearable device.

[0156] Item 2. The audio device of Item 1, wherein the first delay is based on a base delay and a first compensating delay, and wherein applying the first filter comprises applying the first delay, such as the base delay and the first compensating delay, to the first audio signal.

[0157] Item 3. The audio device of any of the preceding items, wherein the second audio wearable device comprises:

[0158] The second output transducer,

[0159] a second wireless communication interface,

[0160] one or more second processors, and

[0161] A second memory;

[0162] Wherein, the second audio wearable device is configured as:

[0163] obtaining a second audio signal via a second wireless communication interface;

[0164] determining a second filter based on the head orientation data, wherein the second filter is based on a second delay and / or a second level compensation;

[0165] applying a second filter to the second audio signal for providing a second filtered audio signal;

[0166] A second filtered audio signal is output at a second audio wearable device.

[0167] Item 4. The audio device of Item 3, wherein the second delay is based on a base delay and a second compensating delay, and wherein applying the second filter comprises applying the second delay, such as the base delay and the second compensating delay, to the second audio signal.

[0168] Item 5. The audio device of Item 4, wherein the base delay is a constant delay configured to be applied to the first audio signal and the second audio signal.

[0169] Item 6. An audio device according to any one of Items 2 to 5, wherein the first compensating delay is configured to modify the interaural time difference between the first audio signal and the second audio signal, and the second compensating delay is configured to modify the interaural time difference between the first audio signal and the second audio signal.

[0170] Item 7. An audio device according to any one of Items 2 to 6, wherein the first level compensation is configured to modify the interaural level difference between the first audio signal and the second audio signal, and the second level compensation is configured to modify the interaural level difference between the first audio signal and the second audio signal.

[0171] Item 8. An audio device according to any of the preceding items, wherein the audio device includes a head orientation sensor, the head orientation sensor being configured to provide head orientation data, wherein the first audio wearable device includes the head orientation sensor.

[0172] Item 9. The audio device of Item 8, wherein the audio device is configured to send head orientation data from the first audio wearable device to the second audio wearable device.

[0173] Item 10. An audio device according to any of the preceding items, wherein the audio device is configured to obtain head orientation data from an external head orientation sensor via the first wireless communication interface.

[0174] Item 11. An audio device according to any of the preceding items, wherein the head orientation data includes a head rotation angle, wherein the head rotation angle is measured relative to a user's line of sight at a reference position of the user's head.

[0175] Item 12. An audio device according to any of the preceding items or according to any of items 3 to 11, wherein the first audio signal and / or the second audio signal is a binaural audio signal.

[0176] Item 13. An audio device according to any of the preceding items or according to any of items 3 to 12, wherein the first filter is a time domain filter and / or the second filter is a time domain filter.

[0177] Item 14. An audio device according to any of the preceding items or according to any of items 4 to 13, wherein the first compensation delay is frequency-based and / or the second compensation delay is frequency-based.

[0178] Item 15. An audio device according to any one of Items 3 to 14, wherein applying the first filter to the first audio signal is performed separately from applying the second filter to the second audio signal, and wherein the first filtered signal is determined separately from the second filtered signal.

[0179] Item 16. An audio device according to any of the preceding items, wherein the first audio wearable device is a first earpiece and the second audio wearable device is a second earpiece.

[0180] Item 17. An audio device according to any one of items 1 to 15, wherein the audio device is a headphone, and wherein the first audio wearable device is a first earmuff and the second audio wearable device is a second earmuff.

[0181] Item 18. A method (100) for operating an audio device, the method comprising:

[0182] Obtaining (S102) a first audio signal;

[0183] obtaining ( S104 ) head orientation data indicating a head orientation of a user;

[0184] determining ( S106 ) a first filter based on the head orientation data, wherein the first filter is based on a first delay and / or a first level compensation;

[0185] applying (S108) a first filter to the first audio signal to compensate for the user's head orientation for providing a first filtered audio signal, and

[0186] The first filtered audio signal is output ( S134 ).

[0187] Item 19. The method of Item 18, wherein the first delay is based on a base delay and a first compensating delay, and wherein applying (S108) the first filter includes applying (S108A) the base delay and the first compensating delay to the first audio signal.

[0188] Item 20. The method according to any one of claims 18 to 19, further comprising:

[0189] Obtaining (S110) a second audio signal;

[0190] determining ( S112 ) a second filter based on the head orientation data, wherein the second filter is based on a second delay and / or a second level compensation;

[0191] applying (S114) a second filter to the second audio signal for providing a second filtered audio signal;

[0192] The second filtered audio signal is output ( S136 ).

[0193] Item 21. The method of Item 20, wherein the second delay is based on a base delay and a second compensating delay, and wherein applying (S114) the second filter includes applying (S114A) the base delay and the second compensating delay to the second audio signal.

[0194] Item 22. The method according to Item 21, comprising applying (S118) a constant delay to the first audio signal and the second audio signal.

[0195] Item 23. The method according to any one of Items 19 to 22, the method comprising modifying (S120) the interaural time difference between the first audio signal and the second audio signal using a first compensating delay, and modifying (S122) the interaural time difference between the first audio signal and the second audio signal using a second compensating delay.

[0196] Item 24. The method according to any one of Items 19 to 23, the method comprising modifying (S124) an interaural level difference between a first audio signal and a second audio signal using a first level compensation, and modifying (S126) an interaural level difference between the first audio signal and the second audio signal using a second level compensation.

[0197] Item 25. The method of any one of Items 18 to 24, the method comprising sending (S128) head orientation data from a first audio wearable device of the audio device to a second audio wearable device.

[0198] Item 26. The method of any one of Items 18 to 25, the method comprising obtaining (S130) head orientation data from an external head orientation sensor.

[0199] Item 27. A method according to any one of Items 18 to 27, wherein the head orientation data comprises a head rotation angle, and wherein the method comprises measuring (S132) the head rotation angle relative to a line of sight of the user at a reference position of the user's head.

[0200] Item 28. A method according to any one of Items 18 to 27, the method comprising applying (S108) the first filter to the first audio signal separately from applying (S114) the second filter to the second audio signal, and determining (S108B) the first filtered signal separately from determining (S114B) the second filtered signal.

[0201] The use of the terms "first," "second," "third," and "fourth," "primary," "secondary," "tertiary," and the like does not imply any particular order, but rather includes these terms for identifying individual elements. Furthermore, the use of the terms "first," "second," "third," and "fourth," "primary," "secondary," "tertiary," and the like does not imply any order or importance, but the terms "first," "second," "third," and "fourth," "primary," "secondary," "tertiary," and the like are used to distinguish one element from another. Note that the words "first," "second," "third," and "fourth," "primary," "secondary," "tertiary," and the like are used here and elsewhere for labeling purposes only and are not intended to indicate any particular spatial or temporal ordering. Furthermore, the labeling of a first element does not imply the presence of a second element, and vice versa.

[0202] It is understood that the accompanying drawings include some circuits or operations shown with solid lines and some circuits, components, features or operations shown with dotted lines. The circuits or operations included in the solid lines are circuits, components, features or operations included in the broadest examples. The circuits, components, features or operations included in the dotted lines are examples that may be included in or are part of the circuits, components, features or operations of the solid line examples, or other circuits, components, features or operations that may be used in addition to the circuits, components, features or operations of the solid line examples. It should be understood that these operations do not need to be performed in the order presented. In addition, it should be understood that not all operations need to be performed. The example operations can be performed in any order and in any combination. It should be understood that these operations do not need to be performed in the order presented. The circuits, components, features or operations included in the dotted lines can be considered optional.

[0203] Other operations not described herein may be incorporated into the example operations. For example, one or more additional operations may be performed before, after, simultaneously with, or between any of the described operations.

[0204] Certain features discussed above as separate implementations may also be implemented in combination as a single implementation. Conversely, features described as a single implementation may also be implemented in multiple implementations separately or in any suitable subcombination. Furthermore, although features may be described above as acting in certain combinations, in some cases one or more features in a claimed combination may be removed from that combination, and the combination may be claimed as any subcombination or variation of any subcombination.

[0205] It should be noted that the word "comprising" does not necessarily exclude the presence of other elements or steps than those listed.

[0206] It should be noted that the word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

[0207] It should also be noted that any reference signs do not limit the scope of the claims, that examples may be implemented at least partially by means of hardware and software, and that several "means", "units" or "devices" may be represented by the same item of hardware.

[0208] Although features have been shown and described, it should be understood that these features are not intended to limit the claimed disclosure, and it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the scope of the claimed disclosure. Therefore, the specification and drawings are to be regarded as illustrative rather than restrictive. The claimed disclosure is intended to cover all alternatives, modifications and equivalents.

[0209] Reference numerals list

[0210] 50Send

[0211] 200 audio equipment

[0212] 200A First Audio Wearable Device

[0213] 200B Second Audio Wearable Device

[0214] 300 audio equipment

[0215] 300A First Audio Wearable Device

[0216] 300B Second Audio Wearable Device

[0217] 301A First Memory

[0218] 301B Second Memory

[0219] 302A One or more first processors

[0220] 302B One or more second processors

[0221] 303A first wireless communication interface

[0222] 303B Second wireless communication interface

[0223] 304A First Output Transducer

[0224] 304B Second output transducer

[0225] 305A First Head Rotation Sensor

[0226] 305B Second Head Rotation Sensor

[0227] S1 first audio signal

[0228] S2 second audio signal

[0229] L_1 First Sight

[0230] L_2 Second Sight

[0231] H1, H'1 first filter

[0232] H2, H'2 second filter

[0233] αHead rotation angle

[0234] D1 first delay

[0235] D2 second delay

[0236] BD basic delay

[0237] CD Compensation Delay

[0238] CD_1 First Compensation Delay

[0239] CD_2 Second compensation delay

[0240] 100 ways to operate audio equipment

[0241] S102 Obtaining a first audio signal

[0242] S104 Obtaining head orientation data

[0243] S106 Determine the first filter based on the head orientation data

[0244] S108 applies a first filter to the first audio signal to compensate for the head orientation of the user, for providing a first filtered audio signal.

Claims

1. An audio device, comprising a first audio wearable device adapted to be worn at a first ear of a user and a second audio wearable device adapted to be worn at a second ear of the user, wherein the first audio wearable device comprises: - a first output transducer, - a first wireless communication interface, - one or more first processors, and - a first memory; Wherein, the first audio wearable device is configured as: obtaining a first audio signal via the first wireless communication interface; obtaining head orientation data indicating a head orientation of the user; determining a first filter based on the head orientation data, wherein the first filter is based on a first delay and / or a first level compensation; applying the first filter to the first audio signal to compensate for the head orientation of the user to provide a first filtered audio signal, and The first filtered audio signal is output at the first audio wearable device.

2. The audio device according to claim 1, wherein The first delay is based on a base delay and a first compensating delay, and wherein applying the first filter comprises applying the first delay to the first audio signal.

3. An audio device according to any one of the preceding claims, wherein The second audio wearable device comprises: - a second output transducer, - a second wireless communication interface, - one or more second processors, and - a second memory; Wherein, the second audio wearable device is configured as: obtaining a second audio signal via the second wireless communication interface; determining a second filter based on the head orientation data, wherein the second filter is based on a second delay and / or a second level compensation; applying the second filter to the second audio signal for providing a second filtered audio signal; The second filtered audio signal is output at the second audio wearable device.

4. The audio device according to claim 3, wherein: The second delay is based on a base delay and a second compensation delay, and wherein applying the second filter comprises applying the second delay to the second audio signal.

5. The audio device according to claim 4, wherein: The base delay is a constant delay configured to be applied to the first audio signal and the second audio signal.

6. The audio device according to any one of claims 2 to 5, wherein: The first compensating delay is configured to modify an interaural time difference between the first audio signal and the second audio signal, and the second compensating delay is configured to modify an interaural time difference between the first audio signal and the second audio signal.

7. The audio device according to any one of claims 2 to 6, wherein: The first level compensation is configured to modify an interaural level difference between the first audio signal and the second audio signal, and the second level compensation is configured to modify an interaural level difference between the first audio signal and the second audio signal.

8. An audio device according to any one of the preceding claims, wherein: The audio device comprises a head orientation sensor configured to provide the head orientation data, wherein the first audio wearable device comprises the head orientation sensor.

9. The audio device according to claim 8, wherein: The audio device is configured to send the head orientation data from the first audio wearable device to the second audio wearable device.

10. An audio device according to any preceding claim, wherein: The head orientation data comprises a head rotation angle, wherein the head rotation angle is measured relative to a line of sight of the user at a reference position of the user's head.

11. An audio device according to any preceding claim or according to any one of claims 3 to 11, wherein The first audio signal and / or the second audio signal are binaural audio signals.

12. An audio device according to any preceding claim or according to any one of claims 3 to 12, wherein: The first filter is a time domain filter and / or the second filter is a time domain filter.

13. An audio device according to any preceding claim or according to any one of claims 4 to 13, wherein The first compensation delay is frequency-based and / or the second compensation delay is frequency-based.

14. The audio device according to any one of claims 3 to 13, wherein: Applying the first filter to the first audio signal is performed separately from applying the second filter to the second audio signal, and wherein the first filtered signal is determined separately from the second filtered signal.

15. An audio device according to any preceding claim, wherein: The first audio wearable device is a first earpiece and the second audio wearable device is a second earpiece.

16. The audio device according to any one of claims 1 to 14, wherein: The audio device is a headset, and wherein the first audio wearable device is a first earmuff and the second audio wearable device is a second earmuff.

17. A method (100) of operating an audio device, the method comprising: Obtaining (S102) a first audio signal; obtaining ( S104 ) head orientation data indicating a head orientation of a user; determining ( S106 ) a first filter based on the head orientation data, wherein the first filter is based on a first delay and / or a first level compensation; applying (S108) the first filter to the first audio signal to compensate for the head orientation of the user for providing a first filtered audio signal, and The first filtered audio signal is output.

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