Spatial direction estimation for multiple sound sources in reverberation environment

In this paper, we propose spatial localization of multiple sound sources using a spherical robot head equipped with four microphones. We obtain arrival time differences using phase difference candidates. Based on the model of precedence effect, arrival temporal disparities obtained from the zero-crossing point are used to calculate time differences and suppress the influence of echoes in a reverberant environment. To integrate spatial cues of different microphone pairs, we use a mapping method from the correlation between different microphone pairs to a 3D map corresponding to azimuth and elevation of sound sources directions. Experiments indicate that the system provides the distribution of sound sources in azimuth-elevation localization, with the EA model even concurrently in reverberant environments.