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The ManyEars project was setup to provide source code from the original AUDIBLE project. It provides an easy to use 'C' library for microphone array processing. This includes sound source localisation, tracking and separation. A tuning Qt GUI is also available for fine tuning the parameters.

8 Sounds USB

ManyEars requires a synchronous audio capture card. Although commercial audio acquisition cards are available, they are expensive, bulky, inefficient and too generic for the needs of ManyEars. Although functional, these cards do not meet the specific needs of mobile robotics and IntRoLab. The goal of 8 Sounds USB is to have an synchronous audio capture card with low power consumption and of a size similar to a credit card with 8 input channels and 2 output channels. The first iteration of the project is a prototype providing a synchronous audio capture card with wiring diagrams, circuit board, full documentation and source code available under Open Source Licenses. XMOS is our platform of choice to process the I2S codec data and USB transmission. We are also looking for the USB Generic Audio Class 2 implementation. More information on the project can be found here :


  1. Grondin, F., Létourneau, D., Ferland, F., Rousseau, V., and Michaud, F. (2013), "The ManyEars Open Framework - Microphone array open software and open hardware system for robotic applications," Autonomous Robots, 34:217-232. [1]
  2. Grondin, F., Létourneau, D., Ferland, F., and Michaud, F. (2013), "An open hardware and software microphone array system for robotic applications," Demonstration session IEEE International Conference on Human-Robot Interaction. (pdf)
  3. Grondin, F., Michaud, F. (2012), "WISS, a Speaker Identification System for Mobile Robots," Proceedings of the International Conference on Robotics and Automation: 1817-1822 (pdf) (mpg)
  4. Grondin, F. (2011), Reconnaissance de locuteurs pour robot mobile, Mémoire de maîtrise, Département de génie électrique et de génie informatique, Université de Sherbrooke. (pdf)
  5. Abran-Côté D., Bandou M., Béland A., Cayer G, Choquette S., Gosselin F., Robitaille F., Telly Kizio D. (2011), “USB Synchronous Multichannel Audio Acquisition System”, IntRoLab Technical Paper (pdf)
  6. Badali, A., Valin, J.-M., Michaud, F., Aarabi, P. (2009), “Evaluating real-time audio localization algorithms for artificial audition on mobile robots,” to be presented at IEEE International Conference on Intelligent Robots and Systems, October. (pdf)
  7. Valin, J.-M., Yamamoto, S., Rouat, J., Michaud, F., Nakadai, K., Okuno, H. (2007), “Robust recognition of simultaneous speech by a mobile robot,” IEEE Transactions on Robotics, 23(4):742-752.
  8. Michaud, F., Côté, C., Létourneau, D., Brosseau, Y., Valin, J.-M., Beaudry, É., Raïevsky, C., Ponchon, Moisan, P., Lepage, P., Morin, Y., Gagnon, F., Giguère, P., Roux, M.-A., Caron, S., Frenette, P., Kabanza, F. (2007), “Spartacus attending the 2005 AAAI Conference,” Autonomous Robots, Special Issue on the AAAI Mobile Robot Competitions and Exhibition. (pdf)
  9. Valin, J.-M., Michaud, F., Rouat, J. (2007), “Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering,” Robotics and Autonomous Systems Journal, 55: 216-228. (pdf)
  10. Valin, J.-M.. (2005), "Auditory system for a mobile robot", Ph.D. Thesis, Department of Electrical Engineering and Computer Engineering, Université de Sherbrooke, August. (pdf)
  11. Valin, J.-M., Rouat, J., Michaud, F. (2004), "Enhanced robot audition based on microphone array source separation with post-filter", Proceedings IEEE/RSJ International Conference on Robots and Intelligent Systems, 2123-2128. (pdf)
  12. Valin, J.-M., Michaud, F., Hadjou, B., Rouat, J. (2004), "Localization of simultaneous moving sound sources for mobile robot using a frequency-domain steered beamformer approach", Proceedings IEEE International Conference on Robotics and Automation, 1033-1038. (pdf)
  13. Valin, J.-M., Rouat, J., Michaud, F. (2004), "Microphone array post-filter for separation of simultaneous non-stationary sources", ICASSP, Montréal. (pdf)
  14. Valin, J.-M., Michaud, F., Létourneau, D., Rouat, J. (2003), "Robust sound source localization using a microphone array on a mobile robot", Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, p. 1228-1233. (pdf)

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