Introduction - If you have any usage issues, please Google them yourself
Based on cross-correlation function, using generalized cross-correlation function sum (summed-GCC) method for the robot system platform. Because of using different mapping function (mapping functions), GCC method in the platform, the only three to three-dimensional microphone positioning, a breakthrough TDOA method based on three-dimensional sound localization will take at least four microphone restrictions
Sound source localization for robot auditory system using the summed GCC method.PDF