A semblance based TDOA algorithm for sound source localization

In this paper we propose a new time difference delay of arrival technique based on the semblance multichannel coherency function for the problem of sound source localization. The proposed algorithm was tested on recordings from an Unmanned Aerial Vehicle (UAV) equipped with an array of 8 microphones, for estimating the azimuth and elevation angles of a speech based source. Our results shown that the semblance method has proven to be a robust strategy, obtaining good results regardless of the ego noise even in cases where the signal-to-noise ratio (SNR) was very low.