Realtime Active Sound Source Localization for Unmanned Ground Robots Using a Self-Rotational Bi-Microphone Array.

Deepak Gala
Deepak Gala
Nathan Lindsay
Nathan Lindsay

Journal of Intelligent & Robotic Systems, Volume abs/1804.03372, Issue 3-4, 2018, Pages 1-20.

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Abstract:

This work presents a novel technique that performs both orientation and distance localization of a sound source in a three-dimensional (3D) space using only the interaural time difference (ITD) cue, generated by a newly-developed self-rotational bi-microphone robotic platform. The system dynamics is established in the spherical coordinate...More

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