Figure 3
From: Lightweight multi-DOA tracking of mobile speech sources
The flow of data throughout the proposed system. The audio data flows through a band-pass filter, voice activity detection (VAD) stage, the single direction-of-arrival (DOA) estimation (which includes multiple inter-microphone time-difference (Multi-ITD) calculation, a redundancy step, and single-DOA calculation), and the multiple direction-of-arrival (DOA) tracking (which includes DOA-to-track association, track updating, and track maintenance).