Self-localization for a set of microphones

摘要

Provided are methods and systems for finding the location of sensors (e.g., microphones) with unknown internal delays based on a set of events (e.g., acoustic events) with unknown event time. A localization algorithm may iteratively run to compute the acoustic event times, the observation delays, and the relative locations of the events and the sensors.

主权项

1. A method comprising:
measuring observation times of a set of events at a set of sensors; generating initial estimates for internal delays of the sensors and event times of the events; performing an iterative approximation algorithm to find a rank-3 approximation of the internal delays and event times using a criterion; and computing locations of the sensors using the rank-3 approximation of the internal delays and event times.