Probabilistic sound source localization

摘要

Sound localization is one of ways that keep the relation with robot. Time delay of arrival (TDOA) between two microphones through cross-correlation method has been used for sound localization in our robot platforms. However, since cross-correlation values are highly dependent on the upcoming sound signal and acoustic environment, time delay values and localization result are easily perturbed. Probabilistic method for sound source localization is presented in this paper. Markovian process and post filtering steps are applied for calculating time delay value and a reliable sound localization.