System and method for tracking poses of plurality of devices within an environment

A system for tracking poses of a plurality of devices within an environment, the system comprising:

• a plurality of audio sensors, wherein at least one audio sensor is attached with each device amongst the plurality of devices, wherein each audio sensor is configured to:
• detect sound signals incident thereon;
• and
• generate sensor data including timestamps corresponding to the detected sound signals;
• and
• a processor communicatively coupled to the plurality of audio sensors, wherein the processor is configured to:
• receive the sensor data from the plurality of audio sensors;
• identify one or more acoustic events based on correlations of the detected sound signals across the sensor data;
• estimate relative poses of the plurality of devices based on time differences of arrival (TDoA) of the sound signals corresponding to a same acoustic event and a speed of sound in the environment;
• and
• determine poses of the plurality of devices within a coordinate space of the environment, based on the estimated relative poses of the plurality of devices, the speed of sound, and a pose of at least one source of the sound signals in the coordinate space.