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It is a great challenge to perform a sound source localization system for mobile robots, because noise and reverberation in room pose a severe threat for continuous localization. This paper presents a novel approach named guided spectro-temporal (ST) position localization for mobile robots. Firstly, since generalized cross-correlation (GCC) function based on time delay of arrival (TDOA) can not get...
The cross power-spectrum phase (CSP) method plays an important role in time delay estimate due to its efficiency in acoustic source localization. Generally, impacted by the spatial noise and reverberation in a room, the positioning accuracy could be greatly enhanced. However, this method could hardly lead to results when the energy of signal is small. In this paper, a new method is proposed: covariance...
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