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A microphone array can provide a mobile robot with the capability oflocalizing, tracking and separating distant sound sources in 2D, i.e.,estimating their relative elevation and azimuth. To combine acoustic data withvisual information in real world settings, spatial correlation must beestablished. The approach explored in this paper consists of having two robots,each equipped with a microphone array, localizing themselves in a sharedreference map using SLAM. Based on their locations, data from the microphonearrays are used to triangulate in 3D the location of a sound source in relationto the same map. This strategy results in a novel cooperative sound mappingapproach using mobile microphone arrays. Trials are conducted using two mobilerobots localizing a static or a moving sound source to examine in whichconditions this is possible. Results suggest that errors under 0.3 m areobserved when the relative angle between the two robots are above 30 degreesfor a static sound source, while errors under 0.3 m for angles between 40degrees and 140 degrees are observed with a moving sound source.

3D Localization of a Sound Source Using Mobile Microphone Arrays Referenced by SLAM