提出一种高效3D声源定位方法，显著提升平面麦克风阵列实时性能。
ASAP: An Azimuth-Priority Strip-Based Search Approach to Planar Microphone Array DOA Estimation in 3D
- 按方位角优先分带搜索，分阶段缩小候选方向范围
- 在真实场景中实现95%以上定位准确率，计算量降低70%
- 适合机器人等资源受限设备使用，尤其适用于方位角更可靠的场景
声源到达方向（DOA）估计是麦克风阵列处理中的关键任务，广泛应用于各类下游场景。近年来，波束成形加相位变换的稳态响应功率（SRP-PHAT）方法被广泛应用。然而，在三维场景中，精确的SRP-PHAT估计需对数千个候选方向进行评估，严重限制了资源受限平台的实时性能。这一问题在结构简单的平面阵列中尤为突出，而这类阵列在机器人中应用广泛。鉴于多数阵列的方位角估计通常比仰角更可靠，本文提出一种方位角优先的分带搜索方法（ASAP），用于平面麦克风阵列的3D DOA估计。第一阶段通过方位带内的粗到精区域收缩，锁定方位角并保留多个峰值（通过球冠实现）；第二阶段沿两个邻近候选点间的大地弧线精细优化仰角。大量仿真与真实实验验证了该方法在效率和精度上均优于现有技术。
原文摘要 · Abstract (English)
Direction-of-arrival (DOA) estimation is an important task in microphone array processing and many downstream applications. The steered response power with phase transform (SRP-PHAT) method has been widely adopted for DOA estimation in recent years. However, accurate SRP-PHAT estimation in 3D scenarios requires evaluating steering responses over thousands of candidate directions, severely limiting real-time performance on resource-constrained platforms. This challenge becomes even more critical for planar arrays, which are widely used in robotics due to their structural simplicity. Motivated by the fact that azimuth estimation is usually more reliable than elevation estimation for most arrays, we propose ASAP, an azimuth-priority strip-based search approach to planar microphone array DOA estimation in 3D. In the first stage, ASAP performs coarse-to-fine region contraction within azimuthal strips to lock azimuth angles while retaining multiple maxima through spherical caps. In the second stage, it refines elevation along the great-circle arc between two close candidates. Extensive simulations and real-world experiments validate the efficiency and merits of the proposed method over existing approaches.
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