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The steered response power phase transform (SRP-PHAT) is a beamformer methodvery attractive in acoustic localization applications due to its robustness inreverberant environments. This paper presents a spatial grid design procedure,called the geometrically sampled grid (GSG), which aims at computing thespatial grid by taking into account the discrete sampling of time difference ofarrival (TDOA) functions and the desired spatial resolution. A new SRP-PHATlocalization algorithm based on the GSG method is also introduced. The proposedmethod exploits the intersections of the discrete hyperboloids representing theTDOA information domain of the sensor array, and projects the whole TDOAinformation on the space search grid. The GSG method thus allows to design thesampled spatial grid which represents the best search grid for a given sensorarray, it allows to perform a sensitivity analysis of the array and tocharacterize its spatial localization accuracy, and it may assist the systemdesigner in the reconfiguration of the array. Experimental results using bothsimulated data and real recordings show that the localization accuracy issubstantially improved both for high and for low spatial resolution, and thatit is closely related to the proposed power response sensitivity measure.

Exploiting a Geometrically Sampled Grid in the SRP-PHAT for Localization Improvement and Power Response Sensitivity Analysis