In this paper we study the suitability and performance of conventional time delay of arrival estimation for humanoid robots. Moving away from simulated environments, we look at the influence of real-world robot's shape on the sound source localization. We present a TDOA/GCC based sound source localization method that successfully addresses this influence by utilizing a pre-measured set of TDOAs. The measuring methodology and important aspects of the implementation are thoroughly presented. Finally, an evaluation is made with the humanoid robot Nao. The experimental results are presented and discussed.
Original languageEnglish
Title of host publicationProceedings of the 11th International Conference on Signal Processing (SIP 2012)
EditorsVincenzo Niola, Michel Kadoch, Alexander Zemliak
Number of pages6
ISBN (Print)978-1-61804-081-7
Publication statusPublished - Apr 2012
Event19th International Conference on Systems, Signals and Image Processing - Vienna, Austria
Duration: 11 Apr 201213 Apr 2012

Publication series

NameRecent Researches in Communications, Signals and Information Technology


Conference19th International Conference on Systems, Signals and Image Processing

    Research areas

  • Microphone arrays, time delay of arrival, sound source localization, generalized cross correlation

ID: 2135738