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This paper proposes a sound source localization method which is robust for multiple sound sources and sound pressure difference. We propose the Main-Lobe Fitting algorithm using the directional pattern of a microphone array to reduce localization error in reverberant environments and noisy conditions such as a robot moving. The localization method is a post process of beam forming and it filters out reflected or interfered signals by selecting spectra which are fitted with the main-lobe model. We implemented the method on our 32ch microphone array mounted on a mobile robot, and evaluated the performance in different conditions. The experimental results show that the system provides accurate and robust sound localization for multiple different sound sources during robot motion.

Point Sound Source Detection using the Main-Lobe Model of a Microphone Array