Real-time sound localization using time difference for human robot interaction

Abstract This paper suggests an algorithm that can detect the direction of sound source at real time. The algorithm uses the time difference or phase difference in the sound source from the three microphones, which are located with difference of 120 degree between two microphones. In addition, sound source tracing algorithm having shorter execution time than that of an existing algorithm is proposed to fit the real-time service robot. Our algorithm has almost correct result within range of an error of ± 6 degree. In consideration of the states of reverberation, echo and the altitude of sound source, if the algorithm is improved, then better efficiency will be expected.