A method for estimating interaural time difference (ITD) from measured head-related transfer functions (HRTFs) is presented. The method forms ITD as the difference in left-ear and right-ear arrival times, estimated as the times of maximum cross-correlation between measured HRTFs and their minimum-phase counterparts. This arrival time estimate is related to a nonlinear least-squares fit to the measured excess phase, emphasizing those frequencies having large HRTF magnitude and deweighting large phase delay errors. As HRTFs are nearly minimum-phase, this method is robust compared to the conventional approach of cross-correlating left-ear and right-ear HRTFs, which can be very different. The method also performs slightly better than techniques averaging phase delay over a limited frequency range.
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