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Estimation of the direction-of-arrival (DOA) of sound sources is an importantstep in sound field analysis. Rigid spherical microphone arrays allow thecalculation of a compact spherical harmonic representation of the sound field.A basic method for analysing sound fields recorded using such arrays is steeredresponse power (SRP) maps wherein the source DOA can be estimated as thesteering direction that maximises the output power of a maximally-directivebeam. This approach is computationally costly since it requires steering thebeam in all possible directions. This paper presents an extension to SRP calledsteered response power density (SRPD) and an associated, signal-adaptive searchmethod called hierarchical grid refinement (HiGRID) for reducing the number ofsteering directions needed for DOA estimation. The proposed method can localisecoherent as well as incoherent sources while jointly providing the number ofprominent sources in the scene. It is shown to be robust to reverberation andadditive white noise. An evaluation of the proposed method using simulationsand real recordings under highly reverberant conditions as well as a comparisonwith state- of-the-art methods are presented.

Multiple Sound Source Localisation with Steered Response Power Density and Hierarchical Grid Refinement