Localization of Simultaneous Moving Sound Sources for Mobile Robot Using   a Frequency-Domain Steered Beamformer Approach
  Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced processing for other capabilities such as speech recognition. In this paper we present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on a frequency-domain implementation of a steered beamformer along with a probabilistic post-processor. Results show that a mobile robot can localize in real time multiple moving sources of different types over a range of 5 meters with a response time of 200 ms. 
Jean-Marc Valin, Fran\c{c}ois Michaud, Brahim Hadjou, Jean Rouat
cs.RO cs.SD