Fundamentals

Why We Learn an HRTF With a Small MLP

Why we learn the HRTF of a bat, or of a sonar, with a small neural network on Fourier features of the direction, and how that smooths it over the sphere and across frequency.

Points, Walls and Corners

Points, smooth walls, corners and round pillars all look like bright spots in a single sonar image. The motion of the robot tells them apart.

From One Bit at 4.5 MHz to 450 kHz

Our MEMS microphones deliver one bit at 4.5 MHz. How noise shaping works, and how CIC, FIR and IIR filters turn that into 450 kHz samples, measured on a real eRTIS sensor.