Acoustic localization

An apparatus for acoustic localization comprising:

• at least one processor;
• and at least one memory storing instructions that, when executed by the at least one processor, cause the apparatus at least to:
• detect at least one acoustic signal originating from at least one acoustic source wherein the at least one acoustic signal is detected by multiple microphones;
• generate a first category of parameters for the detected acoustic signal;
• generate a second category parameters for the detected acoustic signal;
• use, at least, the first category of parameters and the second category of parameters to generate a timing parameter for the detected acoustic signal;
• and using, at least the timing parameter and the first category of parameters to determine an estimate of a location of an object associated with the at least one detected acoustic signal.

An apparatus for acoustic localization comprising

• at least one processor;
• and at least one memory storing instructions that, when executed by the at least one processor, cause the apparatus at least to:
• detect three or more acoustic signals originating from three or more acoustic sources;
• generate a first category of parameters for the three or more detected acoustic signals;
• determine if one or more of the detected acoustic signals is an indirect path signal from a transmitter to a receiver;
• estimate a location of an object associated with the detected acoustic signals using at least the first category of parameters and a timing parameter wherein an instantaneous timing parameter is used to estimate the location if it is not determined that one or more of the detected acoustic signals is an indirect path signal from a transmitter to a receiver and a predicted timing parameter is used to estimate the location if it is determined that one or more of the detected acoustic signals is an indirect path signal from a transmitter to a receiver.