Figure 3From: Joint estimation of pitch and direction of arrival: improving robustness and accuracy for multi-speaker scenariosDirection of arrival. (a) Geometrical interpretation of the relation between direction of arrival φ and distance d i ℓ between microphones i and ℓ, assuming a single speech source and a plane sound wave in free field condition. (b) Definition of the direction of arrival φ relative to the microphone array.Back to article page