The document outlines a detailed procedure for measuring and analyzing localization performance using a Kinect microphone array. It covers data acquisition methods, array performance analysis, and experimental evaluations with various sound sources, focusing on accuracy and robustness of localization. Various statistical metrics are used to quantify performance based on ground truth angles and the results demonstrate high accuracy across different angles.

1. PROCEDURE FOR LOCALIZATION
AND ARRAYS DESIGNING
KINECT MICROPHONE ARRAY CASE STUDY
FOR LOCALIZATION PERFORMANCE
2016-10-08
MUHAMMAD IMRAN

2. CONTENTS
• Measurement Procedures (Data Acquisition)
• Array Performance Analysis
• Localization Performance
• Kinect Case study for Localization Performance

3. PROCEDURE
Measurement Procedures (Data Acquisition)

4. MEASUREMENT PROCEDURES (DATA ACQUISITION)
1. Measurement Setup
a. Data Acquisition HWD
b. Source Selection
• Wideband Source
• Narrowband Source (Single Frequency)
• Speech Source
c. Source Directivity
• Narrow (±20)
• Speech Source
d. Geometry Plan
• Placement of source and receiver
• Alignment of Array

5. DATA ACQUISITION HARDWARE
a. Genelec 8030
• 20 seconds
• Sampling = 44.1 KHz (Prefer)
• 860” Frames (if Frame size is 1024)
• 860” DOAs for One position
b. Kinect Array
• 04-CH: Linear Array
• Non-Uniform
• Windows Direct Sound
• Interface
• Source: Professor Edgar Choueiri, 3D3A Lab, Princeton University
• For Details: Microsoft Corporation

6. PLACEMENT AND ALIGNMENT
• Making Grid (Physical)
• Thread Network
• Protractor
• Separation between elements
• Error within 1 mm
• Axial Placement
• Alignment Errors
• Within the limits of (Hz, Vt)
• -0.5o to +0.5o
• Environmental Factors
• Temperature (STP)
• Humidity (STP)
• Back Ground Noise Level <= 20dB (±5dB)1

7. PROCEDURE FOR DATA ACQUISITION
• Kinect alignment to Loudspeaker
• With Magnetic Compass
• Exciting Sound Sources:
1. Pink Noise (Wideband Source)
• Duration = 10 sec
• Measurement Angles = -90 to + 90 (Step: 05o)
• For Linear Array
2. Sine 500, 1000, 1500 Hz
• Duration = 10 sec
• Radom angles (05-10 angles)
3. Speech (Anechoic)
• Duration = 10 sec
• Measurement Angles = -90 to + 90 (10o)

8. ARRAY DIRECTIVITY
• Figure 1: (Ref: 02): Microphone array directivity pattern in three dimensions
• What to measure (Ref: 01) (Formulae and Matlab Example Code)
1. Microphone Sensitivity
2. Microphone Noise and Output SNR
3. Array Directivity Pattern
4. Array Frequency Response
5. Array Directivity Index
Figure 1
Reference:
1. Chapter: 03: Tashev, Ivan Jelev. Sound capture and processing: practical approaches. John Wiley & Sons, 2009
2. MIT Media Lab: Kinect Array Directivity

9. ARRAY DIRECTIVITY
• Figure 2: A directivity pattern of Kinect (Azimuth @ 0o Elev.)
Figure 2a Figure 2b
Reference:
1. Chapter: 03, Tashev, Ivan Jelev. Sound capture and processing: practical approaches. John Wiley & Sons, 2009

10. DIRECTIVITY INDEX COMPARISON
• Figure 3: A directivity Index of different number of microphone
• More Microphones more directivity
• More computational cost
• Less Microphones Less directivity
• Less computational cost
Directivity Index
0
2
4
6
8
10
12
Uni-directional Tw o element Four element
Microphone/Mic Array
DI,dB
Figure 3
Reference:
1. Chapter: 05, Tashev, Ivan Jelev. Sound capture and processing: practical approaches. John Wiley & Sons, 2009

11. PROCEDURE
Localization Performance

12. PERFORMANCE ANALYSIS PROCEDURES (DOA)
1. Flow of computation
a. Data segmentation
b. Frame by Frame Computation
a. Localization Algo (GCC-PHAT)
b. Individual Pair Computing
c. Combining Pairs
2. Verification Parameters
a. Localization Accuracy
b. Localization Resolution
c. Localization Stability (Standard deviation) (The standard deviation tells the dispersion of data)
d. Robustness (Root Mean Squared Error: RMS)
3. Plotting and Describing Results
a. Histograms, Polar Plots

13. FLOW OF COMPUTATION
Flow of computation
a. Data segmentation
b. Frame by Frame Computation
a. GCC-PHAT
b. Individual Pair Computing
c. Combining Pairs
c. Recorded signal Length
a. 10 sec
d. Sampling
a. 44100 Samples/Sec
e. Total Frames
a. 430 (@ 1024)
f. Total DOA
a. 430
g. Recommended minimum = 200
CH1
CH2
CH3
CH4
Signal Length (10 sec)

14. VERIFICATION PARAMETERS
1. Plotting and Describing Results
a. Histograms, Polar Plots
2. Verification Parameters
1. Localization Resolution
2. *Localization Accuracy (Error)
3. *Localization Stability (Standard deviation)
4. **Confidence Level
Reference:
*Chapter: 06, Tashev, Ivan Jelev. Sound capture and processing: practical approaches. John Wiley & Sons, 2009
**https://en.wikipedia.org/wiki/Confidence_interval

15. Kinect
Localization Performance
Experimental Evaluation

16. MEASUREMENTS
• Source: Pink Noise
• Ground fact angle: -90o to + 90o
• Measured duration: 10 to 20 sec
1. Pink Source
2. Speech
3. Anechoic Speech
Statistics
• Mean
• STD
• Error w.r.t. Ground angles
• Range (Target Range = ±5 @ Kinect)
• Stability / Robustness
• In Range: %
• Out Range: %

17. • Source: Pink Noise
• Ground fact angle: 0o
• Measured angles: (533)
1. Mean: -0.12o
2. STD: 0.11o
3. Error: 0.13o
4. Robustness: 100% (Target Range = ±5)
5. Range: 0.6o
a. In Range: 100% (533)
b. Out Range: 0% (0)
Results

18. • Source: Pink Noise
• Ground fact angle: 5o
• Measured angles: (533)
1. Mean: 4.97o
2. STD: 0.18o
3. Error: 0.028o
4. Robustness: 100% (Target Range = ±5)
5. Range: 1o
a. In Range: 100% (533)
b. Out Range: 0% (0)
Results

19. • Source: Pink Noise
• Ground fact angle: 10o
• Measured angles: (543)
1. Mean: 9.87o
2. STD: 0.134o
3. Error: 0.13o
4. Robustness: 100% (Target Range = ±5)
5. Range: 0.6o
a. In Range: 100% (543)
b. Out Range: 0% (0)
Results

20. • Source: Pink Noise
• Ground fact angle: 15o
• Measured angles: (133)
1. Mean: 15o
2. STD: 0.25o
3. Error: 0.004o
4. Robustness: 100% (Target Range = ±5)
5. Range: 1.3o
a. In Range: 100% (133)
b. Out Range: 0% (0)
Results

21. • Source: Pink Noise
• Ground fact angle: 20o
• Measured angles: (533)
1. Mean: 20.16o
2. STD: 0.19o
3. Error: 0.15o
4. Robustness: 100% (Target Range = ±5)
5. Range: 0.9o
a. In Range: 100% (533)
b. Out Range: 0% (0)
Results

22. • Source: Pink Noise
• Ground fact angle: 25o
• Measured angles: (541)
1. Mean: 25o
2. STD: 0.25o
3. Error: 0.001o
4. Robustness: 100% (Target Range = ±5)
5. Range: 1.4o
a. In Range: 100% (541)
b. Out Range: 0% (0)
Results

23. • Source: Pink Noise
• Ground fact angle: 30o
• Measured angles: (534)
1. Mean: 29.7o
2. STD: 0.17o
3. Error: 0.29o
4. Robustness: 100% (Target Range = ±5)
5. Range: 0.8o
a. In Range: 100% (534)
b. Out Range: 0% (0)
Results

24. • Source: Pink Noise
• Ground fact angle: 35o
• Measured angles: (519)
1. Mean: 34.05o
2. STD: 0.17o
3. Error: 0.95o
4. Robustness: 100% (Target Range = ±5)
5. Range: 1o
a. In Range: 100% (526)
b. Out Range: 0% (0)
Results

25. • Source: Pink Noise
• Ground fact angle: 40o
• Measured angles: (526)
1. Mean: 39.08o
2. STD: 0.19o
3. Error: 0.91o
4. Robustness: 100% (Target Range = ±5)
5. Range: 1o
a. In Range: 100% (526)
b. Out Range: 0% (0)
Results

26. • Source: Pink Noise
• Ground fact angle: 45o
• Measured angles: (190)
1. Mean: 43.9o
2. STD: 0.37o
3. Error: 2.9
4. Robustness: 100% (Target Range = ±5)
5. Range: 3o
a. In Range: 100% (190)
b. Out Range: 0% (0)
Results

27. • Source: Pink Noise
• Ground fact angle: 50o
• Measured angles: (215)
1. Mean: 48.02o
2. STD: 0.5o
3. Error: 2o
4. Robustness: 100% (Target Range = ±5)
5. Range: 3o
a. In Range: 100% (215)
b. Out Range: 0% (0)
Results

28. • Source: Pink Noise
• Ground fact angle: 55o
• Measured angles: (195)
1. Mean: 54.1o
2. STD: 1.5o
3. Error: 0.8o
4. Robustness: 100% (Target Range = ±5)
5. Range: 7o
a. In Range: 94% (204)
b. Out Range: 6% (11)
Results

29. • Source: Pink Noise
• Ground fact angle: 60o
• Measured angles: (200)
1. Mean: 58.2o
2. STD: 2.34o
3. Error: 1.7o
4. Robustness: 100% (Target Range = ±5)
5. Range: 8.9o
a. In Range: 87% (176)
b. Out Range: 13% (24)
Results

30. • Source: Pink Noise
• Ground fact angle: 65o
• Measured angles: (201)
1. Mean: 54.1o
2. STD: 3o
3. Error: 10o
4. Robustness: 100% (Target Range = ±5)
5. Range: 11o
a. In Range: 98% (198)
b. Out Range: 2% (3)
Results

31. • Source: Pink Noise
• Ground fact angle: 70o
• Measured angles: (190)
1. Mean: 58.9o
2. STD: 3.25o
3. Error: 11o
4. Robustness: 100% (Target Range = ±5)
5. Range: 13o
a. In Range: 13% (24)
b. Out Range: 87% (166)
Results

32. • Source: Pink Noise
• Ground fact angle: 75o
• Measured angles: (185)
1. Mean: 65.9o
2. STD: 3.5o
3. Error: 9o
4. Robustness: 100% (Target Range = ±5)
5. Range: 21o
a. In Range: 5% (8)
b. Out Range: 95% (177)
Results

33. • Source: Pink Noise
• Ground fact angle: 80o
• Measured angles: (97)
1. Mean: 73.9o
2. STD: 0.38o
3. Error: 6o
4. Robustness: 100% (Target Range = ±5)
5. Range: 2o
a. In Range: 2.5% (2)
b. Out Range: 97.5% (95)
Results

34. • Source: Pink Noise
• Ground fact angle: 85o
• Measured angles: (195)
1. Mean: 71.4o
2. STD: 7.9o
3. Error: 8o
4. Robustness: 100% (Target Range = ±5)
5. Range: 30o
a. In Range: 15% (30)
b. Out Range: 85% (165)
Results

35. • Source: Pink Noise
• Ground fact angle: 90o
• Measured angles: (88)
1. Mean: 79.83o
2. STD: 3.19o
3. Error: 10o
4. Robustness: 100% (Target Range = ±5)
5. Range: 25o
a. In Range: 13% (11)
b. Out Range: 87% (77)
Results

36. • Source: Pink Noise
• Ground fact angle: -5o
• Measured angles: (136)
1. Mean: -5.07o
2. STD: 0.11o
3. Error: 0.07o
4. Robustness: 100% (Target Range = ±5)
5. Range: 0.67o
a. In Range: 100% (136)
b. Out Range: 0% (0)
Results

37. • Source: Pink Noise
• Ground fact angle: -10o
• Measured angles: (87)
1. Mean: -10.19o
2. STD: 0.13o
3. Error: 0.2o
4. Robustness: 100% (Target Range = ±5)
5. Range: 0.6o
a. In Range: 100% (87)
b. Out Range: 0% (0)
Results

38. • Source: Pink Noise
• Ground fact angle: -15o
• Measured angles: (124)
1. Mean: -15.36o
2. STD: 0.16o
3. Error: 0.35o
4. Robustness: 100% (Target Range = ±5)
5. Range: 0.8o
a. In Range: 100% (124)
b. Out Range: 0% (0)
Results

39. • Source: Pink Noise
• Ground fact angle: -20o
• Measured angles: (200)
1. Mean: -20.4o
2. STD: 0.2o
3. Error: 0.4o
4. Robustness: 100% (Target Range = ±5)
5. Range: 1.1o
a. In Range: 100% (200)
b. Out Range: 0% (0)
Results

40. • Source: Pink Noise
• Ground fact angle: -25o
• Measured angles: (200)
1. Mean: -25.3o
2. STD: 0.23o
3. Error: 0.3o
4. Robustness: 100% (Target Range = ±5)
5. Range: 1.3o
a. In Range: 100% (200)
b. Out Range: 0% (0)
Results

41. • Source: Pink Noise
• Ground fact angle: -30o
• Measured angles: (199)
1. Mean: -30.4o
2. STD: 0.29o
3. Error: 0.44o
4. Robustness: 100% (Target Range = ±5)
5. Range: 1.5o
a. In Range: 100% (199)
b. Out Range: 0% (0)
Results

42. • Source: Pink Noise
• Ground fact angle: -35o
• Measured angles: (200)
1. Mean: -37.16o
2. STD: 0.33o
3. Error: 2.1o
4. Robustness: 100% (Target Range = ±5)
5. Range: 2.5o
a. In Range: 100% (200)
b. Out Range: 0% (0)
Results

43. • Source: Pink Noise
• Ground fact angle: -40o
• Measured angles: (200)
1. Mean: -42.3o
2. STD: 0.39o
3. Error: 2.3o
4. Robustness: 100% (Target Range = ±5)
5. Range: 2.4o
a. In Range: 100% (200)
b. Out Range: 0% (0)
Results

44. • Source: Pink Noise
• Ground fact angle: -45o
• Measured angles: (200)
1. Mean: -47.74o
2. STD: 0.47o
3. Error: 2.73o
4. Robustness: 100% (Target Range = ±5)
5. Range: 2.9o
a. In Range: 100% (200)
b. Out Range: 0% (0)
Results

45. • Source: Pink Noise
• Ground fact angle: -50o
• Measured angles: (201)
1. Mean: -48.8o
2. STD: 0.6o
3. Error: 1.1o
4. Robustness: 100% (Target Range = ±5)
5. Range: 3.8o
a. In Range: 100% (201)
b. Out Range: 0% (0)
Results

46. • Source: Pink Noise
• Ground fact angle: -55o
• Measured angles: (199)
1. Mean: -57.5o
2. STD: 0.76o
3. Error: 2.1o
4. Robustness: 100% (Target Range = ±5)
5. Range: 4.6o
a. In Range: 100% (201)
b. Out Range: 0% (0)
Results

47. • Source: Pink Noise
• Ground fact angle: -60o
• Measured angles: (200)
1. Mean: -61.52o
2. STD: 0.96o
3. Error: 1.5o
4. Robustness: 100% (Target Range = ±5)
5. Range: 5.4o
a. In Range: 100% (200)
b. Out Range: 0% (0)
Results

48. • Source: Pink Noise
• Ground fact angle: -65o
• Measured angles: (199)
1. Mean: -66.5o
2. STD: 1.3o
3. Error: 1.5o
4. Robustness: 100% (Target Range = ±5)
5. Range: 8.7o
a. In Range: 87% (174)
b. Out Range: 13% (25)
Results

49. • Source: Pink Noise
• Ground fact angle: -70o
• Measured angles: (198)
1. Mean: -71o
2. STD: 2.6o
3. Error: 1o
4. Robustness: 100% (Target Range = ±5)
5. Range: 18o
a. In Range: 91% (182)
b. Out Range: 9% (16)
Results

50. • Source: Pink Noise
• Ground fact angle: -75o
• Measured angles: (159)
1. Mean: -72.1o
2. STD: 8.5o
3. Error: 2.8o
4. Robustness: 100% (Target Range = ±5)
5. Range: 37o
a. In Range: 84% (134)
b. Out Range: 16% (25)
Results

51. • Source: Pink Noise
• Ground fact angle: -80o
• Measured angles: (201)
1. Mean: -71o
2. STD: 11.2o
3. Error: 8.8o
4. Robustness: 100% (Target Range = ±5)
5. Range: 43o
a. In Range: 44% (90)
b. Out Range: 56% (111)
Results

52. • Source: Pink Noise
• Ground fact angle: -85o
• Measured angles: (201)
1. Mean: -63.7o
2. STD: 11.7o
3. Error: 21o
4. Robustness: 100% (Target Range = ±5)
5. Range: 44o
a. In Range: 16% (32)
b. Out Range: 84% (169)
Results

53. • Source: Pink Noise
• Ground fact angle: -90o
• Measured angles: (200)
1. Mean: -60.8o
2. STD: 10o
3. Error: 29o
4. Robustness: 100% (Target Range = ±5)
5. Range: 48o
a. In Range: 2% (3)
b. Out Range: 98% (197)
Results

54. ANALYSIS AND DISCUSSION
• Source: Pink Noise
• Ground fact angle: -90o to + 90o
• Measured duration: 10 to 20 sec
1. Pink Source
2. Speech
3. Anechoic Speech
Statistics
• Mean
• STD
• Error w.r.t. Ground angles
• Range (Target Range = ±5 @ Kinect)
• Stability / Robustness
• In Range: %
• Out Range: %

55. ANALYSIS AND DISCUSSION
Mean Angle STD
Measurement Range Error
STD

56. ANALYSIS AND DISCUSSION
Mean Angle STD
Measurement Range Error

57. ANALYSIS AND DISCUSSION
In/Out Bound In/Out Bound