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In this work, a Head-Related Transfer Function (HRTF)-based Robust Least-Squares Frequency-Invariant (RLSFI) beamformer design is proposed. The HRTF-based RLSFI beamformer accounts for the influence of a robot's head on the sound field. The performance of the new HRTF-based RLSFI beamformer is evaluated using signal-based measures and word error rates for(More)
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