The paper discusses the challenges of direction of arrival (DoA) estimation in moving humanoid robots using microphone arrays. Traditional methods assume a fixed array, which doesn’t work well for moving robots. The authors propose two methods that account for the robot’s motion. The first compensates for robot movement, while the second enhances performance for periodic signals by using the motion. Both methods significantly reduce motion-related error and improve the estimated direction of arrival.
Publication date: 4 Jan 2024
Project Page: https://arxiv.org/abs/2401.02386v1
Paper: https://arxiv.org/pdf/2401.02386
