II. SOUND LOCALIZATION USING TDOAIf a signal emanated from a remote sound source is monitored at two spatially separated sensors in the presence of noise, the two monitored signals can be mathematically modeled as where a and D denote the relative attenuation and the time delay of x 2 (t) with respect to Xl (z), respectively. It is assumed that signal Sl (t) and noise n i (t) are uncorrelated and jointly stationary random processes. A common method to determine the time delay D is to compute the cross correlation system experiences front-back confusion effect: the system has difficulty in determining whether the sound is originating from in front of or behind the system. A simple and efficient method to overcome this problem is to incorporate more microphones [11].Various weighting functions or prefilters such as Roth, SCOT, PHAT, Eckart filter and HT can be used to increase the performance of time difference estimation [10]. However, the performance improvement is achieved with the penalty of large power consumption and hardware overhead, which may not be suitable for the implementation of portable systems such as service robots.In this paper, we propose an efficient sound source localization method under the assumption that three isotropic microphones are used to avoid the front-back confusion effect. By the proposed approach, the region from 0°to 180°is divided into three regions and only one of the three regions is selected for the sound source localization. Thus considerable amount of computation time and hardware cost can be reduced. In addition, the estimation accuracy is improved due to the proper choice of the selected region.Section II reviews sound source localization technique using TDOA. New sound source localization technique is proposed in Section III. Section IV presents simulation results and brief conclusions are given in Section V.(1)Abstract-Sound source localization systems in service robot applications estimate the direction of a human voice. Time difference information obtained from a few separate microphones is widely used for the estimation of the sound direction. The crosscorrelation function is com puted in order to calculate the time difference between the two signals. Inverse cosine function is used when the position of the maximum correlation value is converted to an angle. Because of the nonlinear characteristic of inverse cosine function, the accuracy of the com puted angle is varied depending on the position of the specific sound source. In this paper, we propose an efficient sound source localization method using region selection. By the proposed approach, the region from 0 0 to 180 0 is divided into three regions and only one of the three regions is selected such that the selected region corresponds to the linear part of the inverse cosine function. Only the selected region is used for the sound source localization. Thus considerable amount of computation time is saved and the accuracy of the computed angle is improved. By simulations, it is shown that the estimation error by th...
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