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).

Methods and apparatus for verifying respective positions of Nodes based upon wireless communications between Nodes included in an array. Values for variables derived from multiple wireless transmissions between Nodes are aggregated, and a position of a particular Node may be determined based upon multiple data sets generated by multiple communications between disparate Nodes. In addition, the presence of an obstacle to wireless communication between some Nodes may be derived from the data sets. A user interface may provide a pictorial view of positions of all or some Nodes in an array, as well as a perceived obstruction.

Disclosed are a method of providing sound tracking information, a sound tracking apparatus for vehicles and a vehicle having the sound tracking apparatus. The method of providing sound tracking information includes generating sound tracking results based on sound data generated by sensing sound generated around a vehicle, calculating 3D coordinates of a target sound source according to angle values of the target sound source recognized from the sound tracking results, and generating a notification of the target sound source based on the 3D coordinates, and the sound tracking results include information on probabilities that an object corresponding to the target sound source is present at respective angles in each of continuous frames according to time.

Disclosed are a method of providing sound tracking information, a sound tracking apparatus for vehicles and a vehicle having the sound tracking apparatus. The method of providing sound tracking information includes generating sound tracking results based on sound data generated by sensing sound generated around a vehicle, calculating 3D coordinates of a target sound source according to angle values of the target sound source recognized from the sound tracking results, and generating a notification of the target sound source based on the 3D coordinates, and the sound tracking results include information on probabilities that an object corresponding to the target sound source is present at respective angles in each of continuous frames according to time.

A device monitors, by using a microphone array, a sound generated by a monitoring target. In response to detecting a sound signal by the microphone array, the device determines a sound source direction corresponding to detected sound signal according to a sound phase difference obtained by each microphone in the microphone array. The device performs infrared detection in the sound source direction by using the infrared transceiver. The device determines a distance between the monitoring target and the infrared transceiver in the sound source direction according to an infrared detection result obtained by the infrared transceiver. The device generates location information of the monitoring target according to the sound source direction and the distance.

A device monitors, by using a microphone array, a sound generated by a monitoring target. In response to detecting a sound signal by the microphone array, the device determines a sound source direction corresponding to detected sound signal according to a sound phase difference obtained by each microphone in the microphone array. The device performs infrared detection in the sound source direction by using the infrared transceiver. The device determines a distance between the monitoring target and the infrared transceiver in the sound source direction according to an infrared detection result obtained by the infrared transceiver. The device generates location information of the monitoring target according to the sound source direction and the distance.

An acoustic many-to-many localization, communication and management system serving a group whose members are moving or maneuvering, the system comprising plural portable hardware devices which may be distributed to plural group members respectively, each device including at least one array of speakers and/or at least one array of microphones, and/or at least one hardware processor, some or all typically co-located. Typically, the hardware processor in at least one device d1 from among the devices controls d1's speaker to at least once broadcast a first signal (e.g. localization request signal) at a time t_zero. Typically the hardware processor in device d1 at least once computes at least one of angle and distance between d2 and d1, to monitor locations of other group members who may be on the move.

An acoustic many-to-many localization, communication and management system serving a group whose members are moving or maneuvering, the system comprising plural portable hardware devices which may be distributed to plural group members respectively, each device including at least one array of speakers and/or at least one array of microphones, and/or at least one hardware processor, some or all typically co-located. Typically, the hardware processor in at least one device d1 from among the devices controls d1's speaker to at least once broadcast a first signal (e.g. localization request signal) at a time t_zero. Typically the hardware processor in device d1 at least once computes at least one of angle and distance between d2 and d1, to monitor locations of other group members who may be on the move.

Detecting sound sources in a physical space-of-interest is challenging due to strong ego-noise from micro aerial vehicles (MAVs)' propeller units, which is both wideband and non-stationary. The present subject matter discloses a system and method for acoustic source localization with aerial drones. In an embodiment, a wideband acoustic signal is received from an aerial drone. Further, the wideband acoustic signal is splitted into multiple narrow sub-bands having cells. Moreover, from a measurement position corresponding to each of the multiple narrow sub-bands, power in each of the cells is measured by forming a beam to each of the cells. In addition, intra-band and inter measurement fusion of the measured power at each of the cells is performed. Also, geo-location of an acoustic source corresponding to the wideband acoustic signal is identified upon performing intra-band and inter measurement fusion of the measured power.

Detecting sound sources in a physical space-of-interest is challenging due to strong ego-noise from micro aerial vehicles (MAVs)' propeller units, which is both wideband and non-stationary. The present subject matter discloses a system and method for acoustic source localization with aerial drones. In an embodiment, a wideband acoustic signal is received from an aerial drone. Further, the wideband acoustic signal is splitted into multiple narrow sub-bands having cells. Moreover, from a measurement position corresponding to each of the multiple narrow sub-bands, power in each of the cells is measured by forming a beam to each of the cells. In addition, intra-band and inter measurement fusion of the measured power at each of the cells is performed. Also, geo-location of an acoustic source corresponding to the wideband acoustic signal is identified upon performing intra-band and inter measurement fusion of the measured power.