# Robust Sound Source Localization Using a Microphone Array on a Mobile Robot

arXiv: https://arxiv.org/abs/1602.08213 · HTML: https://mlsanity.com/paper/1602.08213/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Feb 2016.

## Built on by (most cited first, 3 of 3)

- [Estimating Visual Information From Audio Through Manifold Learning](https://mlsanity.com/paper/2208.02337/) (2022)
- [The Un-Kidnappable Robot: Acoustic Localization of Sneaking People](https://mlsanity.com/paper/2310.03743/) (2023)
- [DOA Estimation with Lightweight Network on LLM-Aided Simulated Acoustic Scenes](https://mlsanity.com/paper/2511.08012/) (2025)

## Abstract (arXiv)

The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting event in the environment. To do so the robot auditory system must be able to work in noisy, unknown and diverse environmental conditions. In this paper we present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on time delay of arrival estimation. Results show that a mobile robot can localize in real time different types of sound sources over a range of 3 meters and with a precision of 3 degrees.