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. 2014 Jan 23;14(2):1918–1949. doi: 10.3390/s140201918

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© 2014 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).

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Figure 15. — The average localization error is clearly correlated with the angle resolution, node spacing, and with the spectrum of the sound source. (a) The average localization error of one source is below 4 m, with an angle resolution of 64 or more. For angle resolutions larger than 64, there is almost no improvement on error localization either by decreasing the node separation or increasing the angle resolution. (b) When using an angle resolution of 64, the average localization error of one to 10 sound sources is consistently below 4 m when the node separation is 30 m or less. (c) The average localization error of one source decreases as the frequency of the sound source increases. It drops below 4 m from 2,500 Hz on, where it exhibits almost no correlation with node spacing.