Sound source localization for robot auditory systems

Youngkyu Cho, Dongsuk Yook, Sukmoon Chang, Hyunsoo Kim

Research output: Contribution to journalArticlepeer-review

31 Citations (Scopus)


Sound source localization (SSL) is a major function of robot auditory systems for intelligent home robots. The steered response power-phase transform (SRP-PHAT) is a widely used method for robust SSL. However, it is too slow to run in real time, since SRP-PHAT searches a large number of candidate sound source locations. This paper proposes a search space clustering method designed to speed up the SRPPHAT based sound source localization algorithm for intelligent home robots equipped with small scale microphone arrays. The proposed method reduces the number of candidate sound source locations by 30.6% and achieves 46.7% error reduction compared to conventional methods.

Original languageEnglish
Pages (from-to)1663-1668
Number of pages6
JournalIEEE Transactions on Consumer Electronics
Issue number3
Publication statusPublished - 2009


  • Intelligent home robot
  • Robot auditory system
  • Search space clustering
  • Small scale microphone array
  • Sound source localization
  • Steered response power (SRP)

ASJC Scopus subject areas

  • Media Technology
  • Electrical and Electronic Engineering


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