Sound source localization in space of mobile robot
移动机器人空间声源目标定位*

Considering the accuracy of sound source localization, this paper proposed a valid estimation strategy. The sound pressure difference caused by robot head and the freedom degree were used to evaluate the front-back direction of sound. Based on this judgment, using binaural cues and pinna structure located the azimuth and elevation degrees of sound source in space. Through the experiment, localization algorithm can generates more accurate estimated direction for sound source.