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Robust Sound Localization Using Small Number of Microphones

In this paper, robust sound localization is proposed for systems with spatially distributed microphones fewer than 4, the minimum required criteria for 3D sound localization in the literature, in an effort to address the robustness issues of microphone failures. It is shown that, for three- and two-microphone systems, two and four samples of the Interaural Time Difference (ITD) measurements are required respectively. In a one-microphone system, five samples of the Interaural Intensity Difference (IID) measurement should be used instead. These investigations are important because if one microphone fails, the remaining system can still function to locate the sound source without significant impact on the localization system. In addition, our investigation also shows that a 3-microphone system can estimate the azimuth and elevation simultaneously, which usually requires 4 microphones in the literature. Simulation and experimental results are presented to illustrate the performance of a three-microphone system. Results show that the system can locate the sound source with satisfactory accuracy.