A Proposed Method for Acoustic Source Localization in Search and Rescue Robot

Abstract

This paper proposes a 3D acoustic source localization method by the use of a single microphone pair. This is achieved by using Interaural Time Difference (ITD) cues as measured by the microphone pair mounted on a rotating platform to cover the entire scope of the area. The application of the rotating microphone pair is studied for two practical approaches, one using Time Difference of Arrival (TDOA) between the microphone pair corresponding to different rotational angles using Generalized Cross-Correlation method with phase transform weighting function (GCC-PHAT) and the other choosing to maximize source Steered Power Response (SPR) at the output of a delay and sum (DAS) beamformer. The main purpose of this paper is to study the implementation of this technique for search and rescue robots to locate live survivors trapped under rubble, as a replacement or supplement to radar, optical and infrared based life detection methods. The paper concludes with suggested future improvements to the model.