Bearing-Only Localization of a Quasi-Static Sound Source With a Binaural Microphone Array

Abstract

Abstract Sound source localization is the ability to successfully understand the bearing and distance of a sound in space. The challenge of sound source localization has been a major are of research for engineers, especially those studying robotics, for decades. One of the main topics of focus is the ability for robots to track objects, human voices, or other robots robustly and accurately. Common ways to accomplish this goal may use large arrays, computationally intensive machine learning methods, or known dynamic models of a system which may not always be available. We seek to simplify this problem using a minimal amount of inexpensive equipment alongside a Bayesian estimator, capable of localizing an emitter using easily available a-priori information and timing data received from a prototype binaural sensor. We perform an experiment in a full anechoic chamber with a sound source moving at a constant speed; this experimental environment provides a space that allows us to isolate the performance of the sensor. We find that, while our current system isn’t perfect, it is able to track the general motion of a sound source and the path to even more accurate tracking in the future is clear.