{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,8,2]],"date-time":"2024-08-02T07:11:04Z","timestamp":1722582664540},"reference-count":78,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2020,6,9]],"date-time":"2020-06-09T00:00:00Z","timestamp":1591660800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2020,6,9]],"date-time":"2020-06-09T00:00:00Z","timestamp":1591660800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J AUDIO SPEECH MUSIC PROC."],"published-print":{"date-parts":[[2020,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Ad hoc acoustic networks comprising multiple nodes, each of which consists of several microphones, are addressed. From the ad hoc nature of the node constellation, microphone positions are unknown. Hence, typical tasks, such as localization, tracking, and beamforming, cannot be directly applied. To tackle this challenging joint multiple speaker localization and array calibration task, we propose a novel variant of the expectation-maximization (EM) algorithm. The coordinates of multiple arrays relative to an anchor array are blindly estimated using naturally uttered speech signals of multiple concurrent speakers. The speakers\u2019 locations, relative to the anchor array, are also estimated. The inter-distances of the microphones in each array, as well their orientations, are assumed known, which is a reasonable assumption for many modern mobile devices (in outdoor and in a several indoor scenarios). The well-known initialization problem of the batch EM algorithm is circumvented by an incremental procedure, also derived here. The proposed algorithm is tested by an extensive simulation study.<\/jats:p>","DOI":"10.1186\/s13636-020-00177-1","type":"journal-article","created":{"date-parts":[[2020,6,9]],"date-time":"2020-06-09T12:03:02Z","timestamp":1591704182000},"update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Joint speaker localization and array calibration using expectation-maximization"],"prefix":"10.1186","volume":"2020","author":[{"given":"Yuval","family":"Dorfan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ofer","family":"Schwartz","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sharon","family":"Gannot","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,6,9]]},"reference":[{"key":"177_CR1","doi-asserted-by":"publisher","unstructured":"G. Lathoud, J. -M. Odobez, D. Gatica-Perez, in International Workshop on Machine Learning for Multimodal Interaction. AV16.3: an audio-visual corpus for speaker localization and tracking (Springer, 2004), pp. 182\u2013195. https:\/\/doi.org\/10.1007\/978-3-540-30568-2_16.","DOI":"10.1007\/978-3-540-30568-2_16"},{"key":"177_CR2","doi-asserted-by":"publisher","unstructured":"T. Yamada, S. Nakamura, K. Shikano, in Fourth IEEE International Conference on Spoken Language, vol. 3. Robust speech recognition with speaker localization by a microphone array, (1996), pp. 1317\u20131320. https:\/\/doi.org\/10.1109\/icslp.1996.607855.","DOI":"10.1109\/icslp.1996.607855"},{"key":"177_CR3","first-page":"1110","volume":"2003","author":"S. Doclo","year":"2003","unstructured":"S. Doclo, M. Moonen, Robust adaptive time delay estimation for speaker localization in noisy and reverberant acoustic environments. EURASIP J. Appl. Sig. Process.2003:, 1110\u20131124 (2003).","journal-title":"EURASIP J. Appl. Sig. Process."},{"issue":"2","key":"177_CR4","doi-asserted-by":"publisher","first-page":"392","DOI":"10.1109\/TASLP.2013.2292361","volume":"22","author":"O. Schwartz","year":"2014","unstructured":"O. Schwartz, S. Gannot, Speaker tracking using recursive EM algorithms. IEEE\/ACM Trans. Audio Speech Lang. Process.22(2), 392\u2013402 (2014).","journal-title":"IEEE\/ACM Trans. Audio Speech Lang. Process."},{"key":"177_CR5","unstructured":"N. Madhu, R. Martin, in Proceedings of the International Workshop on Acoustic Echo Cancellation and Noise Control (IWAENC). A scalable framework for multiple speaker localization and tracking, (2008)."},{"key":"177_CR6","doi-asserted-by":"publisher","unstructured":"E. A. P. Habets, in IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP) vol. 4. Multi-channel speech dereverberation based on a statistical model of late reverberation, (2005), pp. 173\u2013176. https:\/\/doi.org\/10.1109\/icassp.2005.1415973.","DOI":"10.1109\/icassp.2005.1415973"},{"key":"177_CR7","unstructured":"A. Kuklasinski, S. Doclo, S. H. Jensen, J. Jensen, in Proceedings of the 22nd European Signal Processing Conference (EUSIPCO). Maximum likelihood based multi-channel isotropic reverberation reduction for hearing aids, (2014), pp. 61\u201365."},{"issue":"2","key":"177_CR8","doi-asserted-by":"publisher","first-page":"240","DOI":"10.1109\/TASLP.2014.2372335","volume":"23","author":"O. Schwartz","year":"2015","unstructured":"O. Schwartz, S. Gannot, E. A. P. Habets, Multi-microphone speech dereverberation and noise reduction using relative early transfer functions. IEEE\/ACM Trans. Audio Speech Lang. Process.23(2), 240\u2013251 (2015).","journal-title":"IEEE\/ACM Trans. Audio Speech Lang. Process."},{"issue":"5","key":"177_CR9","doi-asserted-by":"publisher","first-page":"407","DOI":"10.1109\/89.622561","volume":"5","author":"D. P. Morgan","year":"1997","unstructured":"D. P. Morgan, E. B. George, L. T. Lee, S. M. Kay, Cochannel speaker separation by harmonic enhancement and suppression. IEEE Trans. Speech Audio Process.5(5), 407\u2013424 (1997).","journal-title":"IEEE Trans. Speech Audio Process."},{"issue":"6","key":"177_CR10","doi-asserted-by":"publisher","first-page":"1766","DOI":"10.1109\/TASL.2007.901310","volume":"15","author":"A. M. Reddy","year":"2007","unstructured":"A. M. Reddy, B. Raj, Soft mask methods for single-channel speaker separation. IEEE Trans. Audio Speech Lang. Process.15(6), 1766\u20131776 (2007).","journal-title":"IEEE Trans. Audio Speech Lang. Process."},{"key":"177_CR11","doi-asserted-by":"publisher","unstructured":"B. Raj, P. Smaragdis, in IEEE Workshop on Applications of Signal Processing to Audio and Acoustics (ICASSP). Latent variable decomposition of spectrograms for single channel speaker separation, (2005), pp. 17\u201320. https:\/\/doi.org\/10.1109\/aspaa.2005.1540157.","DOI":"10.1109\/aspaa.2005.1540157"},{"key":"177_CR12","doi-asserted-by":"publisher","unstructured":"Y. Dorfan, O. Schwartz, B. Schwartz, E. A. P. Habets, S. Gannot, in International Conference on the Science of Electrical Engineering (ICSEE). Multiple DOA estimation and blind source separation using expectation-maximization algorithm (Eilat, Israel, 2016). https:\/\/doi.org\/10.1109\/icsee.2016.7806066.","DOI":"10.1109\/icsee.2016.7806066"},{"key":"177_CR13","doi-asserted-by":"publisher","unstructured":"O. Schwartz, S. Braun, S. Gannot, E. A. P. Habets, in International Conference on Latent Variable Analysis and Signal Separation. Source separation, dereverberation and noise reduction using LCMV beamformer and postfilter (Springer, 2017), pp. 182\u2013191. https:\/\/doi.org\/10.1007\/978-3-319-53547-0_18.","DOI":"10.1007\/978-3-319-53547-0_18"},{"key":"177_CR14","doi-asserted-by":"crossref","unstructured":"J. H. DiBiase, H. F. Silverman, M. S. Brandstein, Robust localization in reverberant rooms. Microphone arrays: signal processing techniques and applications, 157\u2013180.","DOI":"10.1007\/978-3-662-04619-7_8"},{"issue":"4","key":"177_CR15","doi-asserted-by":"publisher","first-page":"320","DOI":"10.1109\/TASSP.1976.1162830","volume":"24","author":"C. Knapp","year":"1976","unstructured":"C. Knapp, G. Carter, The generalized correlation method for estimation of time delay. IEEE Trans. Acoust. Speech Signal Process.24(4), 320\u2013327 (1976).","journal-title":"IEEE Trans. Acoust. Speech Signal Process."},{"issue":"3","key":"177_CR16","doi-asserted-by":"publisher","first-page":"276","DOI":"10.1109\/TAP.1986.1143830","volume":"34","author":"R. Schmidt","year":"1986","unstructured":"R. Schmidt, Multiple emitter location and signal parameter estimation. IEEE Trans. Antennas Propag.34(3), 276\u2013280 (1986).","journal-title":"IEEE Trans. Antennas Propag."},{"issue":"12","key":"177_CR17","doi-asserted-by":"publisher","first-page":"3423","DOI":"10.1016\/j.sigpro.2013.05.026","volume":"93","author":"V. Vasylyshyn","year":"2013","unstructured":"V. Vasylyshyn, Removing the outliers in root-music via pseudo-noise resampling and conventional beamformer. Sig. Process.93(12), 3423\u20133429 (2013).","journal-title":"Sig. Process."},{"issue":"11","key":"177_CR18","doi-asserted-by":"publisher","first-page":"3096","DOI":"10.1109\/TSP.2004.836456","volume":"52","author":"D. Rahamim","year":"2004","unstructured":"D. Rahamim, J. Tabrikian, R. Shavit, Source localization using vector sensor array in a multipath environment. IEEE Trans. Signal Process.52(11), 3096\u20133103 (2004).","journal-title":"IEEE Trans. Signal Process."},{"key":"177_CR19","doi-asserted-by":"publisher","unstructured":"A. Herzog, E. A. Habets, in 2019 27th European Signal Processing Conference (EUSIPCO). On the relation between doa-vector eigenbeam esprit and subspace pseudointensity-vector (IEEE, 2019), pp. 1\u20135. https:\/\/doi.org\/10.23919\/eusipco.2019.8902715.","DOI":"10.23919\/eusipco.2019.8902715"},{"issue":"4","key":"177_CR20","doi-asserted-by":"publisher","first-page":"572","DOI":"10.1109\/LSP.2019.2898775","volume":"26","author":"A. Herzog","year":"2019","unstructured":"A. Herzog, E. A. Habets, Eigenbeam-ESPRIT for DOA-vector estimation. IEEE Sig. Process. Lett.26(4), 572\u2013576 (2019).","journal-title":"IEEE Sig. Process. Lett."},{"key":"177_CR21","doi-asserted-by":"publisher","unstructured":"H. Teutsch, W. Kellermann, in Acoustics, Speech, and Signal Processing, 2005. Proceedings.(ICASSP\u201905). IEEE International Conference On, vol. 3. EB-ESPRIT: 2D localization of multiple wideband acoustic sources using eigen-beams (IEEE, 2005), p. 89. https:\/\/doi.org\/10.1109\/icassp.2005.1415653.","DOI":"10.1109\/icassp.2005.1415653"},{"issue":"9","key":"177_CR22","doi-asserted-by":"publisher","first-page":"1455","DOI":"10.1109\/TASLP.2019.2921892","volume":"27","author":"R. Wang","year":"2019","unstructured":"R. Wang, Z. Chen, F. Yin, DOA-based three-dimensional node geometry calibration in acoustic sensor networks and its Cram\u00e9r\u2013Rao bound and sensitivity analysis. IEEE\/ACM Trans. Audio Speech Lang. Process.27(9), 1455\u20131468 (2019).","journal-title":"IEEE\/ACM Trans. Audio Speech Lang. Process."},{"issue":"1","key":"177_CR23","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1109\/TSP.2004.838966","volume":"53","author":"S. A. Vorobyov","year":"2005","unstructured":"S. A. Vorobyov, A. B. Gershman, K. M. Wong, Maximum likelihood direction-of-arrival estimation in unknown noise fields using sparse sensor arrays. IEEE Trans. Signal Process.53(1), 34\u201343 (2005).","journal-title":"IEEE Trans. Signal Process."},{"issue":"4","key":"177_CR24","doi-asserted-by":"publisher","first-page":"938","DOI":"10.1109\/78.376846","volume":"43","author":"H. Ye","year":"1995","unstructured":"H. Ye, R. D. DeGroat, Maximum likelihood DOA estimation and asymptotic Cram\u00e9r-Rao bounds for additive unknown colored noise. IEEE Trans. Signal Process.43(4), 938\u2013949 (1995).","journal-title":"IEEE Trans. Signal Process."},{"key":"177_CR25","doi-asserted-by":"publisher","unstructured":"K. Yao, J. C. Chen, R. E. Hudson, in IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), vol. 3. Maximum-likelihood acoustic source localization: experimental results, (2002), pp. 2949\u20132952. https:\/\/doi.org\/10.1109\/icassp.2002.1005305.","DOI":"10.1109\/icassp.2002.1005305"},{"key":"177_CR26","doi-asserted-by":"publisher","unstructured":"H. Wang, C. -E. Chen, A. Ali, S. Asgari, R. E. Hudson, K. Yao, D. Estrin, C. Taylor, in Proc. of SPIE, Advanced Signal Processing Algorithms, Architectures, and Implementations. Acoustic sensor networks for woodpecker localization, (2005). https:\/\/doi.org\/10.1117\/12.617983.","DOI":"10.1117\/12.617983"},{"issue":"7","key":"177_CR27","doi-asserted-by":"publisher","first-page":"1830","DOI":"10.1109\/TSP.2004.828896","volume":"52","author":"O. Yilmaz","year":"2004","unstructured":"O. Yilmaz, S. Rickard, Blind separation of speech mixtures via time-frequency masking. IEEE Trans. Sig. Process.52(7), 1830\u20131847 (2004).","journal-title":"IEEE Trans. Sig. Process."},{"issue":"3","key":"177_CR28","doi-asserted-by":"publisher","first-page":"265","DOI":"10.1007\/s11265-009-0413-9","volume":"63","author":"S. Araki","year":"2011","unstructured":"S. Araki, H. Sawada, R. Mukai, S. Makino, DOA estimation for multiple sparse sources with arbitrarily arranged multiple sensors. J. Sig. Process. Syst.63(3), 265\u2013275 (2011).","journal-title":"J. Sig. Process. Syst."},{"key":"177_CR29","first-page":"953","volume":"19","author":"M. I. Mandel","year":"2007","unstructured":"M. I. Mandel, D. P. W. Ellis, T. Jebara, An EM algorithm for localizing multiple sound sources in reverberant environments. Adv. Neural Inf. Process. Syst.19:, 953\u2013960 (2007).","journal-title":"Adv. Neural Inf. Process. Syst."},{"key":"177_CR30","doi-asserted-by":"crossref","unstructured":"O. Schwartz, Y. Dorfan, E. A. P. Habets, S. Gannot, in International Workshop for Acoustic Echo Cancellation and Noise Control (IWAENC). Multiple DOA estimation in reverberant conditions using EM (Xi\u2019an, China, 2016).","DOI":"10.1109\/IWAENC.2016.7602897"},{"key":"177_CR31","doi-asserted-by":"publisher","unstructured":"O. Schwartz, Y. Dorfan, M. Taseska, E. A. P. Habets, S. Gannot, in Hands-free speech communications and microphone arrays (HSCMA). DOA estimation in noisy environment with unknown noise power using the EM algorithm, (2017), pp. 86\u201390. https:\/\/doi.org\/10.1109\/hscma.2017.7895567.","DOI":"10.1109\/hscma.2017.7895567"},{"issue":"2","key":"177_CR32","doi-asserted-by":"publisher","first-page":"30","DOI":"10.1109\/79.985676","volume":"19","author":"J. C. Chen","year":"2002","unstructured":"J. C. Chen, K. Yao, R. E. Hudson, Source localization and beamforming. IEEE Sig. Process. Mag.19(2), 30\u201339 (2002).","journal-title":"IEEE Sig. Process. Mag."},{"key":"177_CR33","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1016\/j.sigpro.2014.08.013","volume":"107","author":"A. Griffin","year":"2015","unstructured":"A. Griffin, A. Alexandridis, D. Pavlidi, Y. Mastorakis, A. Mouchtaris, Localizing multiple audio sources in a wireless acoustic sensor network. Sig. Process.107:, 54\u201367 (2015).","journal-title":"Sig. Process."},{"issue":"1","key":"177_CR34","doi-asserted-by":"publisher","first-page":"37","DOI":"10.1155\/ASP.2005.37","volume":"2005","author":"A. J. Weiss","year":"2005","unstructured":"A. J. Weiss, A. Amar, Direct position determination of multiple radio signals. EURASIP J. Adv. Signal Process.2005(1), 37\u201349 (2005).","journal-title":"EURASIP J. Adv. Signal Process."},{"issue":"10","key":"177_CR35","doi-asserted-by":"publisher","first-page":"1692","DOI":"10.1109\/TASLP.2015.2444654","volume":"23","author":"Y. Dorfan","year":"2015","unstructured":"Y. Dorfan, S. Gannot, Tree-based recursive expectation-maximization algorithm for localization of acoustic sources. IEEE\/ACM Trans. Audio Speech Lang. Process.23(10), 1692\u20131703 (2015).","journal-title":"IEEE\/ACM Trans. Audio Speech Lang. Process."},{"issue":"1","key":"177_CR36","doi-asserted-by":"publisher","first-page":"124","DOI":"10.1109\/MSP.2010.938757","volume":"28","author":"Y. -C. Wu","year":"2011","unstructured":"Y. -C. Wu, Q. Chaudhari, E. Serpedin, Clock synchronization of wireless sensor networks. IEEE Sig. Process. Mag.28(1), 124\u2013138 (2011).","journal-title":"IEEE Sig. Process. Mag."},{"issue":"20","key":"177_CR37","doi-asserted-by":"publisher","first-page":"30","DOI":"10.3182\/20090924-3-IT-4005.00006","volume":"42","author":"L. Schenato","year":"2009","unstructured":"L. Schenato, F. Fiorentin, Average timesync: a consensus-based protocol for time synchronization in wireless sensor networks1. IFAC Proc. Vol.42(20), 30\u201335 (2009).","journal-title":"IFAC Proc. Vol."},{"issue":"4","key":"177_CR38","doi-asserted-by":"publisher","first-page":"1685","DOI":"10.1109\/TSP.2007.910536","volume":"56","author":"Q. M. Chaudhari","year":"2008","unstructured":"Q. M. Chaudhari, E. Serpedin, K. Qaraqe, On maximum likelihood estimation of clock offset and skew in networks with exponential delays. IEEE Trans. Sig. Process.56(4), 1685\u20131697 (2008).","journal-title":"IEEE Trans. Sig. Process."},{"issue":"2","key":"177_CR39","doi-asserted-by":"publisher","first-page":"384","DOI":"10.1109\/TNET.2004.842228","volume":"13","author":"W. Su","year":"2005","unstructured":"W. Su, I. F. Akyildiz, Time-diffusion synchronization protocol for wireless sensor networks. IEEE\/ACM Trans. Netw.13(2), 384\u2013397 (2005).","journal-title":"IEEE\/ACM Trans. Netw."},{"key":"177_CR40","doi-asserted-by":"publisher","unstructured":"S. Wehr, I. Kozintsev, R. Lienhart, W. Kellermann, in IEEE Sixth International Symposium on Multimedia Software Engineering. Synchronization of acoustic sensors for distributed ad-hoc audio networks and its use for blind source separation, (2004), pp. 18\u201325. https:\/\/doi.org\/10.1109\/mmse.2004.79.","DOI":"10.1109\/mmse.2004.79"},{"key":"177_CR41","unstructured":"S. Markovich-Golan, S. Gannot, I. Cohen, in Internation Workshop on Acoustic Signal Enhancement (IWAENC). Blind sampling rate offset estimation and compensation in wireless acoustic sensor networks with application to beamforming, (2012)."},{"key":"177_CR42","doi-asserted-by":"crossref","unstructured":"S. Miyabe, N. Ono, S. Makino, in IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). Blind compensation of inter-channel sampling frequency mismatch with maximum likelihood estimation in STFT domain, (2013), pp. 674\u2013678.","DOI":"10.1109\/ICASSP.2013.6637733"},{"key":"177_CR43","doi-asserted-by":"publisher","unstructured":"Y. Zeng, R. C. Hendriks, N. D. Gaubitch, in IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). On clock synchronization for multi-microphone speech processing in wireless acoustic sensor networks, (2015), pp. 231\u2013235. https:\/\/doi.org\/10.1109\/icassp.2015.7177966.","DOI":"10.1109\/icassp.2015.7177966"},{"issue":"3","key":"177_CR44","doi-asserted-by":"publisher","first-page":"571","DOI":"10.1109\/TASLP.2016.2517326","volume":"24","author":"L. Wang","year":"2016","unstructured":"L. Wang, S. Doclo, Correlation maximization-based sampling rate offset estimation for distributed microphone arrays. IEEE\/ACM Trans. Audio Speech Lang. Process. (TASLP). 24(3), 571\u2013582 (2016).","journal-title":"IEEE\/ACM Trans. Audio Speech Lang. Process. (TASLP)"},{"issue":"3","key":"177_CR45","doi-asserted-by":"publisher","first-page":"651","DOI":"10.1109\/TASLP.2017.2655259","volume":"25","author":"D. Cherkassky","year":"2017","unstructured":"D. Cherkassky, S. Gannot, Blind synchronization in wireless acoustic sensor networks. IEEE\/ACM Trans. Audio Speech Lang. Process. (TASLP). 25(3), 651\u2013661 (2017).","journal-title":"IEEE\/ACM Trans. Audio Speech Lang. Process. (TASLP)"},{"key":"177_CR46","doi-asserted-by":"publisher","unstructured":"R. Parhizkar, I. Dokmani\u0107, M. Vetterli, in 2014 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). Single-channel indoor microphone localization (IEEE, 2014), pp. 1434\u20131438. https:\/\/doi.org\/10.1109\/icassp.2014.6853834.","DOI":"10.1109\/icassp.2014.6853834"},{"issue":"3","key":"177_CR47","doi-asserted-by":"publisher","first-page":"286","DOI":"10.1109\/TASSP.1987.1165144","volume":"35","author":"Y. Rockah","year":"1987","unstructured":"Y. Rockah, P. Schultheiss, Array shape calibration using sources in unknown locations\u2013part I: Far-field sources. IEEE Trans. Acoust. Speech Sig. Process.35(3), 286\u2013299 (1987).","journal-title":"IEEE Trans. Acoust. Speech Sig. Process."},{"issue":"6","key":"177_CR48","doi-asserted-by":"publisher","first-page":"724","DOI":"10.1109\/TASSP.1987.1165222","volume":"35","author":"Y. Rockah","year":"1987","unstructured":"Y. Rockah, P. Schultheiss, Array shape calibration using sources in unknown locations\u2013part II: Near-field sources and estimator implementation. IEEE Trans. Acoust. Speech Signal Process.35(6), 724\u2013735 (1987).","journal-title":"IEEE Trans. Acoust. Speech Signal Process."},{"issue":"4","key":"177_CR49","doi-asserted-by":"publisher","first-page":"348","DOI":"10.1155\/S1110865703212063","volume":"2003","author":"R. L. Moses","year":"2003","unstructured":"R. L. Moses, D. Krishnamurthy, R. M. Patterson, A self-localization method for wireless sensor networks. EURASIP J. Adv. Signal Process.2003(4), 348\u2013358 (2003).","journal-title":"EURASIP J. Adv. Signal Process."},{"key":"177_CR50","unstructured":"S. Zhayida, F. Andersson, Y. Kuang, K. \u00c5str\u00f6m, in The 22nd European Signal Processing Conference (EUSIPCO). An automatic system for microphone self-localization using ambient sound, (2014), pp. 954\u2013958."},{"key":"177_CR51","unstructured":"P. Pertil\u00e4, M. Mieskolainen, M. S. H\u00e4m\u00e4l\u00e4inen, in The 20th European Signal Processing Conference (EUSIPCO). Passive self-localization of microphones using ambient sounds, (2012), pp. 1314\u20131318."},{"issue":"2","key":"177_CR52","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1109\/MRA.2006.1638022","volume":"13","author":"H. Durrant-Whyte","year":"2006","unstructured":"H. Durrant-Whyte, T. Bailey, Simultaneous localization and mapping: part I. IEEE Robot. Autom. Mag.13(2), 99\u2013110 (2006).","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"3","key":"177_CR53","doi-asserted-by":"publisher","first-page":"108","DOI":"10.1109\/MRA.2006.1678144","volume":"13","author":"T. Bailey","year":"2006","unstructured":"T. Bailey, H. Durrant-Whyte, Simultaneous localization and mapping (SLAM): part II. IEEE Robot. Autom. Mag.13(3), 108\u2013117 (2006).","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"9","key":"177_CR54","doi-asserted-by":"publisher","first-page":"1484","DOI":"10.1109\/TASLP.2018.2828321","volume":"26","author":"C. Evers","year":"2018","unstructured":"C. Evers, P. A. Naylor, Acoustic slam. IEEE\/ACM Trans. Audio Speech Lang. Process.26(9), 1484\u20131498 (2018).","journal-title":"IEEE\/ACM Trans. Audio Speech Lang. Process."},{"issue":"10","key":"177_CR55","doi-asserted-by":"publisher","first-page":"5038","DOI":"10.1109\/TSP.2012.2205923","volume":"60","author":"N. Kantas","year":"2012","unstructured":"N. Kantas, S. S. Singh, A. Doucet, Distributed maximum likelihood for simultaneous self-localization and tracking in sensor networks. IEEE Trans. Signal Process.60(10), 5038\u20135047 (2012).","journal-title":"IEEE Trans. Signal Process."},{"key":"177_CR56","doi-asserted-by":"publisher","unstructured":"M. Syldatk, F. Gustafsson, in IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). Simultaneous tracking and sparse calibration in ground sensor networks using evidence approximation, (2013), pp. 3108\u20133112. https:\/\/doi.org\/10.1109\/icassp.2013.6638230.","DOI":"10.1109\/icassp.2013.6638230"},{"key":"177_CR57","doi-asserted-by":"publisher","unstructured":"C. Taylor, A. Rahimi, J. Bachrach, H. Shrobe, A. Grue, in The 5th ACM International Conference on Information Processing in Sensor Networks. Simultaneous localization, calibration, and tracking in an ad hoc sensor network, (2006), pp. 27\u201333. https:\/\/doi.org\/10.1145\/1127777.1127785.","DOI":"10.1145\/1127777.1127785"},{"issue":"3","key":"177_CR58","doi-asserted-by":"publisher","first-page":"324","DOI":"10.1109\/LSP.2017.2662065","volume":"24","author":"A. Plinge","year":"2017","unstructured":"A. Plinge, G. A. Fink, S. Gannot, Passive online geometry calibration of acoustic sensor networks. IEEE Sig. Process. Lett.24(3), 324\u2013328 (2017).","journal-title":"IEEE Sig. Process. Lett."},{"issue":"8","key":"177_CR59","doi-asserted-by":"publisher","first-page":"1843","DOI":"10.1109\/TSP.2002.800420","volume":"50","author":"J. C. Chen","year":"2002","unstructured":"J. C. Chen, R. E. Hudson, K. Yao, Maximum-likelihood source localization and unknown sensor location estimation for wideband signals in the near-field. IEEE Trans. Sig. Process.50(8), 1843\u20131854 (2002).","journal-title":"IEEE Trans. Sig. Process."},{"key":"177_CR60","doi-asserted-by":"publisher","first-page":"303","DOI":"10.1016\/j.apacoust.2016.10.005","volume":"116","author":"R. Lefort","year":"2017","unstructured":"R. Lefort, G. Real, A. Dr\u00e9meau, Direct regressions for underwater acoustic source localization in fluctuating oceans. Appl. Acoust.116:, 303\u2013310 (2017). https:\/\/doi.org\/10.1016\/j.apacoust.2016.10.005.","journal-title":"Appl. Acoust."},{"issue":"4","key":"177_CR61","doi-asserted-by":"publisher","first-page":"1018","DOI":"10.1109\/TSP.2015.2498130","volume":"64","author":"L. Wang","year":"2016","unstructured":"L. Wang, T. -K. Hon, J. D. Reiss, A. Cavallaro, Self-localization of ad-hoc arrays using time difference of arrivals. IEEE Trans. Sig. Process.64(4), 1018\u20131033 (2016).","journal-title":"IEEE Trans. Sig. Process."},{"key":"177_CR62","doi-asserted-by":"publisher","unstructured":"M. Pollefeys, D. Nister, in IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). Direct computation of sound and microphone locations from time-difference-of-arrival data, (2008), pp. 2445\u20132448. https:\/\/doi.org\/10.1109\/icassp.2008.4518142.","DOI":"10.1109\/icassp.2008.4518142"},{"key":"177_CR63","doi-asserted-by":"publisher","unstructured":"V. C. Raykar, I. Kozintsev, R. Lienhart, in The Eleventh ACM International Conference on Multimedia. Position calibration of audio sensors and actuators in a distributed computing platform, (2003), pp. 572\u2013581. https:\/\/doi.org\/10.1145\/957013.957133.","DOI":"10.1145\/957013.957133"},{"issue":"1","key":"177_CR64","doi-asserted-by":"publisher","first-page":"70","DOI":"10.1109\/TSA.2004.838540","volume":"13","author":"V. C. Raykar","year":"2005","unstructured":"V. C. Raykar, I. V. Kozintsev, R. Lienhart, Position calibration of microphones and loudspeakers in distributed computing platforms. IEEE Trans. Speech Audio Process.13(1), 70\u201383 (2005).","journal-title":"IEEE Trans. Speech Audio Process."},{"issue":"4","key":"177_CR65","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1109\/MSP.2016.2555198","volume":"33","author":"A. Plinge","year":"2016","unstructured":"A. Plinge, F. Jacob, R. Haeb-Umbach, G. A. Fink, Acoustic microphone geometry calibration: an overview and experimental evaluation of state-of-the-art algorithms. IEEE Sig. Process. Mag.33(4), 14\u201329 (2016).","journal-title":"IEEE Sig. Process. Mag."},{"issue":"10","key":"177_CR66","doi-asserted-by":"publisher","first-page":"1459","DOI":"10.1109\/LSP.2016.2601878","volume":"23","author":"D. Salvati","year":"2016","unstructured":"D. Salvati, C. Drioli, G. L. Foresti, Sound source and microphone localization from acoustic impulse responses. IEEE Sig. Process. Lett.23(10), 1459\u20131463 (2016).","journal-title":"IEEE Sig. Process. Lett."},{"issue":"2","key":"177_CR67","doi-asserted-by":"publisher","first-page":"292","DOI":"10.1109\/LSP.2018.2889438","volume":"26","author":"S. Wo\u017aniak","year":"2018","unstructured":"S. Wo\u017aniak, K. Kowalczyk, Passive joint localization and synchronization of distributed microphone arrays. IEEE Sig. Process. Lett.26(2), 292\u2013296 (2018).","journal-title":"IEEE Sig. Process. Lett."},{"key":"177_CR68","doi-asserted-by":"publisher","first-page":"410","DOI":"10.1016\/j.sbspro.2012.05.132","volume":"46","author":"T. -L. Chou","year":"2012","unstructured":"T. -L. Chou, L. -J. ChanLin, Augmented reality smartphone environment orientation application: a case study of the Fu-Jen University mobile campus touring system. Procedia-Soc. Behav. Sci.46:, 410\u2013416 (2012).","journal-title":"Procedia-Soc. Behav. Sci."},{"key":"177_CR69","unstructured":"D. Nield, All the sensors in your smartphone, and how they work. Dostopno na:. gizmodo (2017). https:\/\/fieldguidecom\/all-the-sensors-in-your-smartphone-and-how-theywork-1797121002."},{"issue":"9","key":"177_CR70","doi-asserted-by":"publisher","first-page":"1495","DOI":"10.1109\/TASLP.2016.2553457","volume":"24","author":"O. Schwartz","year":"2016","unstructured":"O. Schwartz, S. Gannot, E. A. P. Habets, An expectation-maximization algorithm for multimicrophone speech dereverberation and noise reduction with coherence matrix estimation. IEEE\/ACM Trans. Audio Speech Lang. Process.24(9), 1495\u20131510 (2016).","journal-title":"IEEE\/ACM Trans. Audio Speech Lang. Process."},{"key":"177_CR71","volume-title":"Pattern recognition and machine learning","author":"C. M. Bishop","year":"2006","unstructured":"C. M. Bishop, Pattern recognition and machine learning (Springer, New York, US, 2006)."},{"key":"177_CR72","doi-asserted-by":"publisher","first-page":"355","DOI":"10.1007\/978-94-011-5014-9_12","volume":"89","author":"R. M. Neal","year":"1998","unstructured":"R. M. Neal, G. E. Hinton, A view of the EM algorithm that justifies incremental, sparse, and other variants. Learn Graph Models. 89:, 355\u2013368 (1998).","journal-title":"Learn Graph Models"},{"issue":"1","key":"177_CR73","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1023\/A:1021987710829","volume":"13","author":"S. -K. Ng","year":"2003","unstructured":"S. -K. Ng, G. J. McLachlan, On the choice of the number of blocks with the incremental EM algorithm for the fitting of normal mixtures. Stat. Comput.13(1), 45\u201355 (2003).","journal-title":"Stat. Comput."},{"issue":"2","key":"177_CR74","doi-asserted-by":"publisher","first-page":"306","DOI":"10.1109\/78.740104","volume":"47","author":"L. Frenkel","year":"1999","unstructured":"L. Frenkel, M. Feder, Recursive expectation-maximization (EM) algorithms for time-varying parameters with applications to multiple target tracking. IEEE Trans. Signal Process.47(2), 306\u2013320 (1999).","journal-title":"IEEE Trans. Signal Process."},{"key":"177_CR75","doi-asserted-by":"publisher","unstructured":"Y. Dorfan, G. Hazan, S. Gannot, in The 4th Joint Workshop on Hands-free Speech Communication and Microphone Arrays (HSCMA). Multiple acoustic sources localization using distributed expectation-maximization algorithm, (2014), pp. 72\u201376. https:\/\/doi.org\/10.1109\/hscma.2014.6843254.","DOI":"10.1109\/hscma.2014.6843254"},{"key":"177_CR76","doi-asserted-by":"publisher","unstructured":"Y. Dorfan, D. Cherkassky, S. Gannot, in The 23rd European Signal Processing Conference (EUSIPCO). Speaker localization and separation using incremental distributed expectation-maximization, (2015), pp. 1256\u20131260. https:\/\/doi.org\/10.1109\/eusipco.2015.7362585.","DOI":"10.1109\/eusipco.2015.7362585"},{"key":"177_CR77","doi-asserted-by":"publisher","unstructured":"Y. Dorfan, C. Evers, S. Gannot, P. A. Naylor, in The 24th European Signal Processing Conference (EUSIPCO). Speaker localization with moving microphone arrays, (2016), pp. 1003\u20131007. https:\/\/doi.org\/10.1109\/eusipco.2016.7760399.","DOI":"10.1109\/eusipco.2016.7760399"},{"issue":"3","key":"177_CR78","doi-asserted-by":"publisher","first-page":"682","DOI":"10.1109\/TASLP.2017.2788198","volume":"26","author":"Y. Dorfan","year":"2018","unstructured":"Y. Dorfan, A. Plinge, G. Hazan, S. Gannot, Distributed expectation-maximization algorithm for speaker localization in reverberant environments. IEEE\/ACM Trans. Audio Speech Lang. Process. (TASLP). 26(3), 682\u2013695 (2018).","journal-title":"IEEE\/ACM Trans. Audio Speech Lang. Process. (TASLP)"}],"container-title":["EURASIP Journal on Audio, Speech, and Music Processing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1186\/s13636-020-00177-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1186\/s13636-020-00177-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1186\/s13636-020-00177-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,6,8]],"date-time":"2021-06-08T23:16:22Z","timestamp":1623194182000},"score":1,"resource":{"primary":{"URL":"https:\/\/asmp-eurasipjournals.springeropen.com\/articles\/10.1186\/s13636-020-00177-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,6,9]]},"references-count":78,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2020,12]]}},"alternative-id":["177"],"URL":"https:\/\/doi.org\/10.1186\/s13636-020-00177-1","relation":{},"ISSN":["1687-4722"],"issn-type":[{"value":"1687-4722","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,6,9]]},"assertion":[{"value":"8 November 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 May 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 June 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"All authors agree to the publication in this journal.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}},{"value":"The authors declare that they have no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"9"}}