Direction of Arrival Estimation Using Microphone Array Processing for Moving Humanoid Robots

Vladimir Tourbabin, Boaz Rafaely

Research output: Contribution to journalArticlepeer-review

25 Scopus citations


The auditory system of humanoid robots has gained increased attention in recent years. This system typically acquires the surrounding sound field by means of a microphone array. Signals acquired by the array are then processed using various methods. One of the widely applied methods is direction of arrival estimation. The conventional direction of arrival estimation methods assume that the array is fixed at a given position during the estimation. However, this is not necessarily true for an array installed on a moving humanoid robot. The array motion, if not accounted for appropriately, can introduce a significant error in the estimated direction of arrival. The current paper presents a signal model that takes the motion into account. Based on this model, two processing methods are proposed. The first one compensates for the motion of the robot. The second method is applicable to periodic signals and utilizes the motion in order to enhance the performance to a level beyond that of a stationary array. Numerical simulations and an experimental study are provided, demonstrating that the motion compensation method almost eliminates the motion-related error. It is also demonstrated that by using the motion-based enhancement method it is possible to improve the direction of arrival estimation performance, as compared to that obtained when using a stationary array.

Original languageEnglish
Pages (from-to)2046-2058
Number of pages13
JournalIEEE/ACM Transactions on Audio Speech and Language Processing
Issue number11
StatePublished - 1 Nov 2015


  • Direction of arrival estimation
  • microphone array
  • moving array
  • robot audition
  • rotation
  • spherical harmonics
  • translation

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Acoustics and Ultrasonics
  • Computational Mathematics
  • Electrical and Electronic Engineering


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