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Systems, methods, apparatus, and computer-readable media for source localization using audible sound and ultrasound

  • US 9,354,310 B2
  • Filed: 08/04/2011
  • Issued: 05/31/2016
  • Est. Priority Date: 03/03/2011
  • Status: Active Grant
First Claim
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1. A method of signal processing with a device, said method comprising:

  • based on information from a first reflection of a first ultrasonic signal emitted by the device and detected by the device after being reflected from a sound-emitting object, estimating a first range of the sound-emitting object from the device;

    based on the estimated first range, selecting one among a gain-difference-based direction-of-arrival estimation operation and a phase-difference-based direction-of-arrival estimation operation, wherein the gain-difference-based direction-of-arrival estimation operation determines a difference between gains of signals that are based on channels of a multichannel signal, wherein the phase-difference-based direction-of-arrival estimation operation determines a difference between phases of different channels of the multichannel signal, and wherein the multichannel signal is based on at least one signal produced by at least one detector in response to the first reflection of the first ultrasonic signal by the sound-emitting object; and

    performing the selected direction-of-arrival estimation operation to calculate, based on information from an audio-frequency component of the multichannel signal, an estimate of a direction of arrival of the audio-frequency component.

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