This paper explores the 2D Audio Localization using only the Direction of Arrivals (DOAs) of a fixed acoustic source coming from an audio sensors network and proposes a new method for estimating the position of the source using a Gaussian Probability over DOA approach (G-DOA) in the 2D space. This new method was thought for Robotic purposes and introduces a new perspective of the Audio-Video synergy using Video Sensor Localization in the environment for extrinsic Audio Sensor Calibration. Our approach achieves more precise solutions using more sensors and shows better results compared to the analytic Weighted Least Square method (WLS-DOA). Test results using Microsoft Kinect as DOA-sensors within the ROS framework show that the algorithm is robust, modular and can be easily used for robot applications.
['Riccardo Levorato', 'Enrico Pagello']
Probabilistic 2D Acoustic Source Localization Using Direction of Arrivals in Robot Sensor Networks