Fig. 12
Results of real environment. a Mean angle error of sound source direction estimation in the horizontal plane. b Example of estimation result in the horizontal plane. Sound source direction: \(\phi = 10^{\circ }, \theta = 0^{\circ }\). c Mean angle error of sound source direction estimation in the median plane. d Example of estimation result in the median plane. Sound source direction: \(\phi = 0^{\circ }, \theta = 10^{\circ }\). e (left) Accuracy of Left-Right discrimination in the horizontal plane. (right) Accuracy of Top-Bottom discrimination in the median plane