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This paper presents a theoretical analysis of the Cramer-Rao lower bound for source localization from time differences of arrival. We derive properties of the Cramer-Rao bound and design optimum sensor arrays which minimize the bound.
One major problem of time delay estimation for acoustic localization in multi-source reverberant environments is the ambiguity in identifying out of many peaks of generalized cross-correlation the desired time differences of arrival (TDOAs) caused by direct paths and in assigning them correctly to individual sources. In this paper, we propose a novel… (More)
This paper presents a novel approach to estimate the time difference of arrival (TDOA) for multiple sources in reverberant environments. It resolves ambiguities in TDOA estimation caused by multipath propagation and multiple sources. By exploiting two TDOA constraints, the raster condition and the zero cyclic sum condition, we are able to identify and… (More)
In source localization from time difference of arrival, the impact of the sensor array geometry to the localization accuracy is not well understood yet. A first rigorous analysis can be found in B. Yang and J. Scheuing (2005). It derived sufficient and necessary conditions for optimum array geometry in terms of minimum Cramer-Rao bound. This paper continues… (More)
Due to ambiguities and estimation errors, combining time differences of arrival (TDOAs) for simultaneous localization of multiple acoustic sources is a challenging task. This paper studies this problem under the framework of consistent graphs and proposes an efficient algorithm to determine TDOAs originating from the source.