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In this paper, robust detection, tracking and geometry estimation methods aredeveloped and combined into a system for estimating time-difference estimates,microphone localization and sound source movement. No assumptions on the 3Dlocations of the microphones and sound sources are made. The system is capableof tracking continuously moving sound sources in an reverberant environment.The multi-path components are explicitly tracked and used in the geometryestimation parts. The system is based on matching between pairs of channelsusing GCC-PHAT. Instead of taking a single maximum at each time instant fromeach such pair, we select the four strongest local maxima. This produce a setof hypothesis to work with in the subsequent steps, where consistencyconstraints between the channels and time-continuity constraints are exploited.In the paper it demonstrated how such detections can be used to estimatemicrophone positions, sound source movement and room geometry. The methods aretested and verified using real data from several reverberant environments. Theevaluation demonstrated accuracy in the order of few millimeters.

An Automatic System for Acoustic Microphone Geometry Calibration based on Minimal Solvers