Sound Source Localization Methods with Considering of Microphone Placement in Robot Platform

Many different methods for sound source localization have been developed. Most of them mainly depend on time difference of arrival (TDOA) or analytic head related transfer functions (HRTF). In real implementation, since the direct path between a source and a sensor is interrupted by obstacles as like a head or body of robot, it has to be considered the number of sensors as well as their positions. Therefore, in this paper, we present the methods, which are included sensor position problem, to localize the sound source with 4 microphones to cover the 3D space. Those are modified two-step TDOA methods. Our conclusion is that the different method has to be applied in case to be different microphone position on real robot platform.