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Kalman Filters for Time Delay of Arrival-Based Source Localization

EURASIP Journal on Advances in Signal Processing volume 2006, Article number: 012378 (2006) Cite this article

Abstract

In this work, we propose an algorithm for acoustic source localization based on time delay of arrival (TDOA) estimation. In earlier work by other authors, an initial closed-form approximation was first used to estimate the true position of the speaker followed by a Kalman filtering stage to smooth the time series of estimates. In the proposed algorithm, this closed-form approximation is eliminated by employing a Kalman filter to directly update the speaker's position estimate based on the observed TDOAs. In particular, the TDOAs comprise the observation associated with an extended Kalman filter whose state corresponds to the speaker's position. We tested our algorithm on a data set consisting of seminars held by actual speakers. Our experiments revealed that the proposed algorithm provides source localization accuracy superior to the standard spherical and linear intersection techniques. Moreover, the proposed algorithm, although relying on an iterative optimization scheme, proved efficient enough for real-time operation.

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Authors and Affiliations

  1. Institut für Theoretische Informatik, Universitäat Karlsruhe, Am Fasanengarten 5, Karlsruhe, 76131, Germany

    Ulrich Klee, Tobias Gehrig & John McDonough

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  1. Ulrich Klee
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  2. Tobias Gehrig
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  3. John McDonough
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Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License ( https://creativecommons.org/licenses/by/2.0 ), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Klee, U., Gehrig, T. & McDonough, J. Kalman Filters for Time Delay of Arrival-Based Source Localization. EURASIP J. Adv. Signal Process. 2006, 012378 (2006). https://doi.org/10.1155/ASP/2006/12378

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  • DOI: https://doi.org/10.1155/ASP/2006/12378

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