A Geometric Approach to Sound Source Localization from Time-Delay Estimates

This paper addresses the problem of sound-source localization from time-delay estimates using arbitrarily-shaped non-coplanar microphone arrays. A novel geometric formulation is proposed, together with a thorough algebraic analysis and a global optimization solver. The proposed model is thoroughly described and evaluated. The geometric analysis, stemming from the direct acoustic propagation model, leads to necessary and sufficient conditions for a set of time delays to correspond to a unique position in the source space. Such sets of time delays are referred to as feasible sets. We formally prove that every feasible set corresponds to exactly one position in the source space, whose value can be recovered using a closed-form localization mapping. Therefore we seek for the optimal feasible set of time delays given, as input, the received microphone signals. This time delay estimation problem is naturally cast into a programming task, constrained by the feasibility conditions derived from the geometric analysis. A global branch-and-bound optimization technique is proposed to solve the problem at hand, hence estimating the best set of feasible time delays and, subsequently, localizing the sound source. Extensive experiments with both simulated and real data are reported; we compare our methodology to four state-of-the-art techniques. This comparison clearly shows that the proposed method combined with the branch-and-bound algorithm outperforms existing methods. These in-depth geometric understanding, practical algorithms, and encouraging results, open several opportunities for future work.Comment: 13 pages, 2 figures, 3 table, journa

Quantum Time and Spatial Localization: An Analysis of the Hegerfeldt Paradox

Two related problems in relativistic quantum mechanics, the apparent superluminal propagation of initially localized particles and dependence of spatial localization on the motion of the observer, are analyzed in the context of Dirac's theory of constraints. A parametrization invariant formulation is obtained by introducing time and energy operators for the relativistic particle and then treating the Klein-Gordon equation as a constraint. The standard, physical Hilbert space is recovered, via integration over proper time, from an augmented Hilbert space wherein time and energy are dynamical variables. It is shown that the Newton-Wigner position operator, being in this description a constant of motion, acts on states in the augmented space. States with strictly positive energy are non-local in time; consequently, position measurements receive contributions from states representing the particle's position at many times. Apparent superluminal propagation is explained by noting that, as the particle is potentially in the past (or future) of the assumed initial place and time of localization, it has time to propagate to distant regions without exceeding the speed of light. An inequality is proven showing the Hegerfeldt paradox to be completely accounted for by the hypotheses of subluminal propagation from a set of initial space-time points determined by the quantum time distribution arising from the positivity of the system's energy. Spatial localization can nevertheless occur through quantum interference between states representing the particle at different times. The non-locality of the same system to a moving observer is due to Lorentz rotation of spatial axes out of the interference minimum.Comment: This paper is identical to the version appearing in J. Math. Phys. 41; 6093 (Sept. 2000). The published version will be found at http://ojps.aip.org/jmp/. The paper (40 page PDF file) has been completely revised since the last posting to this archiv