Sound positioning system of facial robot SHFR-III

Sound source localization plays a very important role in human-robot interactions. This paper presents a sound source positioning system based on a sensor array. The software hardware components of the system are illustrated. In addition, the paper designs a localization algorithm based on time difference of arrival for this system. The contents of the algorithm are described in detail. And the sound positioning depending on this algorithm is implemented. Finally, the usefulness and accuracy of the system is verified by a series of tests.