Camera Pointing with Coordinate-Free Localization and Tracking

Abstract

where c is the speed of sound in the medium. ∆ ij is often called the time delay of arrival (TDOA) between microphone i and j. It is worth noting that if f is the sampling rate being used, then the largest the TDOA can be in terms of audio samples is M = m i − m j 2 f /c. In other words, ∆ ij is always in the range [−M, M] and in practice can only be estimated to the nearest sample. This observation directly reveals the fact that close together microphones cannot have as wide a range of TDOAs as microphones that are spaced further apart. Placing microphones further 318 Advances in Sound Localization