Citation

Islam, Rafiqul and Raja, Joseph Emerson and Nadzri, Muhammad Akmal Aliff and Hossen, Jakir and Peeterson, Emerson Raja Jose (2025) Dual-Position Single-Array Triangulation for Nearfield Sound Source Range Estimation. In: 2025 5th International Conference on Intelligent Cybernetics Technology & Applications (ICICyTA), 17-19 December 2025, Yogyakarta, Indonesia.

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Abstract

Sound source localization is crucial in robotics as the field has been developing over the past few decades. But accurate acoustic localization, especially range estimation in narrow indoor spaces, remains challenging due to strong reflections, noise, and limited array aperture. This paper presents a Dual-Position Single Microphone Array Triangulation (DPSAT) method. It estimates the range of a near-field stationary sound source by positioning two single ReSpeaker arrays at a 0.30 m baseline. DPSAT, a geometrybased method that achieves accurate near-field acoustic range using low-cost arrays and without multi-array synchronization or calibration. Based on two inner angles and the baseline of the constructed triangle, we calculate the distance between the reference array A and the source S. Experimental evaluation in a semi-reverberant room and noisy corridor environment demonstrates that the proposed system achieves a mean absolute range error of 0.15 m at a 1 m reference distance. In contrast, it maintains robustness under ±0.5∘ angular perturbations and 10 dB of fan noise. Localization accuracy is maximized when the intersection angle γ≈90∘, suggesting that the arrays should be deployed orthogonally for best results, whereas γ<20∘ significantly amplifies range sensitivity. The sound source fails to generate a triangle at 0° and 180° degrees with the arrays. Future work will focus on solving this problem by introducing a rotational robot head and minimizing the angular error, addressing the noise-reverberant friendly algorithm.

Item Type:	Conference or Workshop Item (Paper)
Uncontrolled Keywords:	sound source localization, respeaker, microphone array, range estimation
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics > TK7871 Electronics--Materials
Divisions:	Faculty of Engineering and Technology (FET)
Depositing User:	Ms Suzilawati Abu Samah
Date Deposited:	20 Apr 2026 04:20
Last Modified:	20 Apr 2026 04:20
URII:	http://shdl.mmu.edu.my/id/eprint/15785

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