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

<table class="fixed-width table-group" id="tab5"><tr><td><table class="table"><colgroup><col style="width:9.74em"/><col style="width:11.85em"/><col style="width:11.90em"/></colgroup><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Array model</td><td class="align_center">Distance positioning error</td><td class="align_center">Azimuth positioning error</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">tetrahedral</td><td class="align_center">≤ 0.40m</td><td class="align_center">≤ 2.0°</td></tr><tr><td class="align_left">Rectangular pyramid</td><td class="align_center">≤ 0.24m</td><td class="align_center">≤ 1.5°</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Comparison of positioning accuracy between two microphone arrays.</div>

Journal of Sensors

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Table 5

Table 5: A Sound Source Localization Device Based on Rectangular Pyramid Structure for Mobile Robot 