Ehud Ben-reuven, Yoram Singer
Time difference of arrival (TDOA) is commonly used to estimate the az- imuth of a source in a microphone array. The most common methods to estimate TDOA are based on ﬁnding extrema in generalized cross- correlation waveforms. In this paper we apply microphone array tech- niques to a manikin head. By considering the entire cross-correlation waveform we achieve azimuth prediction accuracy that exceeds extrema locating methods. We do so by quantizing the azimuthal angle and treating the prediction problem as a multiclass categorization task. We demonstrate the merits of our approach by evaluating the various ap- proaches on Sony’s AIBO robot.