Geometric calibration of distributed microphone arrays

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A comprehensive analysis of the geometry of TDOA maps in localisation problems

In this manuscript we consider the well-established problem of TDOA-based source localization and propose a comprehensive analysis of its solutions for arbitrary sensor measurements and placements. More specifically, we define the TDOA map from the physical space of source locations to the space of range measurements (TDOAs), in the specific case of three receivers in 2D space. We then study the identifiability of the model, giving a complete analytical characterization of the image of this map and its invertibility. This analysis has been conducted in a completely mathematical fashion, using many different tools which make it valid for every sensor configuration. These results are the first step towards the solution of more general problems involving, for example, a larger number of sensors, uncertainty in their placement, or lack of synchronization.Comment: 51 pages (3 appendices of 12 pages), 12 figure

Geometric calibration of distributed microphone arrays

reserved4Computational auditory scene analysis exploits signals acquired by means of microphone arrays. In some circumstances, more than one array is deployed in the same environment. In order to effectively fuse the information gathered by each array, the relative location and pose of the arrays needs to be obtained solving a problem of geometric inter-array calibration. We consider the case where the arrays do not share a synchronous clock, which impairs the use of time-difference of arrival measures across arrays. Conversely, each array produces an acoustic image, which describes the energy of acoustic signals received from different directions. We jointly consider acoustic images acquired by the different arrays and adapt computer vision techniques to solve the calibration problem, thus estimating the location and pose of microphone arrays sensing the same auditory scene. We evaluate the robustness of the calibration process in a simulated environment and we investigate the effect of the various system parameters, namely the number of probing signal locations, the resolution of the acoustic images, the non-ideal intra-array calibration.A. REDONDI; M. TAGLIASACCHI; F. ANTONACCI; A. SARTIRedondi, ALESSANDRO ENRICO CESARE; Tagliasacchi, Marco; Antonacci, Fabio; Sarti, August

Geometric calibration of distributed microphone arrays from acoustic source correspondences

This paper proposes a method that solves the problem of geometric calibration of microphone arrays. We consider a distributed system, in which each array is controlled by separate acquisition devices that do not share a common synchronization clock. Given a set of probing sources, e.g. loudspeakers, each array computes an estimate of the source locations using a conventional TDOA-based algorithm. These observations are fused together by the proposed method, in order to estimate the position and pose of one array with respect to the other. Unlike previous approaches, we explicitly consider the anisotropic distribution of localization errors. As such, the proposed method is able to address the problem of geometric calibration when the probing sources are located both in the near- and far-field of the microphone arrays. Experimental results demonstrate that the improvement in terms of calibration accuracy with respect to state-of-the-art algorithms can be substantial, especially in the far-fiel