Interactive interface to optimize sound source localization based on microphone array with coarse-to-fine tuning for humanoids

This study describes the design and development of an interactive interface to optimize sound source localization (SSL) based on a microphone array with the multi-channel robot audition software program, HARK. Using this interface, users can optimize the parameters of SSL with coarse-to-fine tuning. That is, users can roughly optimize the system (coarse tuning) and subsequently tune parameters in detail (fine tuning). Experimentally, our proposed interface showed better visibility and flexibility in optimizing SSL parameters than the current HARK interface.