A Sound Source Localization Device Based on Rectangular Pyramid Structure for Mobile Robot

Figure 10

The results of localization experiment for all test points at SNR of 45dB, (a) the relation curves between the positioning error of distance and the testing distance; (b) the relation curves between the positioning error of azimuth angle and the testing distance; (c) the relation curves between the positioning error of distance and the testing azimuth angle; (d) the relation curves between the positioning error of azimuth angle and the testing azimuth angle.

(a)

(b)

(c)

(d)