ishine/dap_project

Multiple DOA estimation & delay-and-sum beamforming

Robot audition system

Location and tracking of multiple speakers using an array of 3 microphones

• Estimate the directions of arrival (DOA) of multiple speakers in real-time (or from a set of recordings).
• Spatial filtering to improve the signal-to-interference ratio (simple delay-and-sum beamforming).

Requirements:

• libsndfile (version 1.0.28 or higher)
• fftw (version 3.3.8 or higher)
• Eigen (version 3.3.7 or higher)

How to use:

1 - For compilation, run: 'make'.

2(a)- If the directions of arrival (azimuth) are known, and just to perform beamforming, run: 'beamformer'; or ...

2(b)- if the directions of arrival (azimuth) are unkown, first perform azimuth estimation and then beamforing by running: 'gcc_beamformer'.

$ ./gcc_beamformer <separation between microphones (meters)> <maximum number of sources to localize> <which source to filter (set to 0 to filter all)>

For example: $ ./gcc_beamformer 0.23 2 1

3(a)- Use JACK to manually connect the audio sources to the corresponfing ports of 'jack_doa_beamformer' JACK client; or ...

3(b)- if the audio sources are .wav files, run: 'ReadMicWavs'

$ ./ReadMicWavs <jack agent's name> <audio file root name> <audio file path> <number of channels>

For example: $ ./ReadMicWavs jack_doa_beamformer wav_mic corpus/ 3

All output files are stored in './output'. MATLAB scripts and functions in './matlab' are meant for analysis of the output files.