A method and device for sound source positioning using a microphone array. The method comprises: determining a horizontal axis that a microphone array rotates around as a reference axis; calculating, according to a sound emitted by a sound source that is collected by the microphone array, to obtain a first sound source estimated value indicating a sound source position in a three-dimensional space; acquiring an inclination angle between a plane in which the microphone array is located when it is rotating and a horizontal plane in which the reference axis is located; and according to the first sound source estimated value and the inclination angle, calculating out a second sound source estimated value on a horizontal plane corresponding to the first sound source estimated value, and using the second sound source estimated value as the determined sound source position.

A method and device for sound source positioning using a microphone array. The method comprises: determining a horizontal axis that a microphone array rotates around as a reference axis; calculating, according to a sound emitted by a sound source that is collected by the microphone array, to obtain a first sound source estimated value indicating a sound source position in a three-dimensional space; acquiring an inclination angle between a plane in which the microphone array is located when it is rotating and a horizontal plane in which the reference axis is located; and according to the first sound source estimated value and the inclination angle, calculating out a second sound source estimated value on a horizontal plane corresponding to the first sound source estimated value, and using the second sound source estimated value as the determined sound source position.

A controller and method for imaging an area of interest of a region within an object using a transoesophageal echo (TEE) probe of a TEE ultrasound acquisition system are 5 provided. The controller includes a memory that stores instructions, and a processor that executes the instructions. When executed by the processor, the instructions cause the controller to perform a process including causing a transthoracic echo (TTE) probe of a TTE ultrasound acquisition system to emit an ultrasound beam to a selected area of interest of a region within the object; switching the TEE probe to a listening mode, enabling the 10 TEE probe detect and receive the ultrasound beam emitted by the TTE probe; and causing a robot to steer the TEE probe to an imaging location in the object using the detected TTE ultrasound beam. The TEE probe shows the area of interest using ultrasound images acquired from the imaging location.

Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for obtaining initial parameters for ultrasonic transducers around a calibration target. The calibration target can include a fish-shaped structure, sensors placed at different locations of the fish-shaped structure, a processor that receives sensor values from the sensors, and a transmitter that outputs sensor data from the calibration target based on the sensor values. The calibration target can be fixed at a particular position relative to the ultrasonic transducers by a filament coupled to both the calibration target and a support structure. Sensor data can be obtained from the calibration target at the particular position relative to the ultrasonic transducers, and relative locations of the sensors can be determined. Parameters for the ultrasonic transducers around the calibration target can be adjusted based on the sensor data and the respective locations of the sensors.

Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for obtaining initial parameters for ultrasonic transducers around a calibration target. The calibration target can include a fish-shaped structure, sensors placed at different locations of the fish-shaped structure, a processor that receives sensor values from the sensors, and a transmitter that outputs sensor data from the calibration target based on the sensor values. The calibration target can be fixed at a particular position relative to the ultrasonic transducers by a filament coupled to both the calibration target and a support structure. Sensor data can be obtained from the calibration target at the particular position relative to the ultrasonic transducers, and relative locations of the sensors can be determined. Parameters for the ultrasonic transducers around the calibration target can be adjusted based on the sensor data and the respective locations of the sensors.

This application discloses a method and apparatus for determining characteristics of a sound source. The method may include: acquiring a first position of a first virtual role controlled by an application client in a virtual scene; detecting, in a sound source detection area associated with the first position, a second position of a sound source virtual object in the virtual scene; determining transparency of a position mark that matches the sound source virtual object, according to a sound source distance between the first position and the second position, the position mark identifying the second position of the sound source virtual object; and displaying, on an interaction interface of the application client, the position mark of the sound source virtual object according to the transparency.

This application discloses a method and apparatus for determining characteristics of a sound source. The method may include: acquiring a first position of a first virtual role controlled by an application client in a virtual scene; detecting, in a sound source detection area associated with the first position, a second position of a sound source virtual object in the virtual scene; determining transparency of a position mark that matches the sound source virtual object, according to a sound source distance between the first position and the second position, the position mark identifying the second position of the sound source virtual object; and displaying, on an interaction interface of the application client, the position mark of the sound source virtual object according to the transparency.

A method and system for locating a sound source are provide. The method may include detecting a sound signal of a sound by each of two audio sensors. The method may also include converting the sound signals detected by the two audio sensors from a time domain to a frequency domain. The method may further include determining a high frequency ratio of each of the sound signals in the frequency domain. The method may further include determining a direction of the sound source based on the high frequency ratios.

A method and system for locating a sound source are provide. The method may include detecting a sound signal of a sound by each of two audio sensors. The method may also include converting the sound signals detected by the two audio sensors from a time domain to a frequency domain. The method may further include determining a high frequency ratio of each of the sound signals in the frequency domain. The method may further include determining a direction of the sound source based on the high frequency ratios.

The present document describes a method (700) for determining the position of at least one audio source (200). The method (700) includes capturing (701) first and second microphone signals at two or more microphone arrays (210, 220, 230), wherein the two or more microphone arrays (210, 220, 230) are placed at different positions. The two or more microphone arrays (210, 220, 230) each comprise at least a first microphone capsule to capture a first microphone signal and a second microphone capsule to capture a second microphone signal, wherein the first and second microphone capsules have differently oriented spatial directivities. Furthermore, the method (700) comprises determining (702), for each microphone array (210, 220, 230) and based on the respective first and second microphone signals, an incident direction (211, 221, 231) of at least one audio source (200) at the respective microphone array (210, 220, 230). In addition, the method (700) comprises determining (703) the position of the audio source (200) based on the incident directions (211, 221, 231) at the two or more microphone arrays (210, 220, 230).