Haversine distance errorD (rad) | p value: paired samplet test (ref. best case) | |||||||
---|---|---|---|---|---|---|---|---|
Mean | Median | Min | Max | 0.25 quartile | 0.75 quartile | RMSE | ||
Baseline | ||||||||
GCC-PHAT (max) | 0.0868 | 0.07004 | 0.002181 | 2.350 | 0.04567 | 0.1035 | 0.1662 | n.s. |
GCC-PHAT (sum) | 0.0810 | 0.06459 | 0.004032 | 2.457 | 0.04299 | 0.0918 | 0.1690 | n.s. |
GCC-NONLIN (max) | 0.0905 | 0.06951 | 0.002702 | 2.350 | 0.04345 | 0.1008 | 0.1746 | n.s. |
GCC-NONLIN (sum) | 0.0811 | 0.06633 | 0.004032 | 0.686 | 0.04325 | 0.0936 | 0.1155 | n.s. |
MVDR (max) | 0.1690 | 0.08072 | 0.004032 | 2.490 | 0.04379 | 0.1199 | 0.3743 | 7.88 ×10−6 |
MVDR (sum) | 0.1590 | 0.07550 | 0.003670 | 1.823 | 0.04377 | 0.1148 | 0.3633 | 5.15 ×10−5 |
DS (max) | 0.2293 | 0.08965 | 0.004032 | 2.436 | 0.05588 | 0.1365 | 0.4655 | 1.10 ×10−9 |
DS (sum) | 0.1648 | 0.07734 | 0.002618 | 2.465 | 0.04694 | 0.1169 | 0.3625 | 1.21 ×10−5 |
DNM (max) | 0.2619 | 0.09346 | 0.004032 | 2.436 | 0.05745 | 0.1381 | 0.5411 | 2.02 ×10−10 |
DNM (sum) | 0.1563 | 0.07733 | 0.003670 | 2.807 | 0.04490 | 0.1130 | 0.3910 | 2.62 ×10−4 |
w/ [28] T-F mask | ||||||||
GCC-PHAT (max) | 0.1816 | 0.07557 | 0.002919 | 2.029 | 0.04480 | 0.1733 | 0.3429 | 1.78 ×10−11 |
GCC-PHAT (sum) | 0.1078 | 0.06546 | 0.005047 | 2.490 | 0.04372 | 0.1000 | 0.2203 | 5.32 ×10−6 |
w/ [30] T-F mask | ||||||||
GCC-PHAT (max) | 0.2472 | 0.09462 | 0.002449 | 2.558 | 0.05509 | 0.2263 | 0.4670 | 2.35 ×10−14 |
GCC-PHAT (sum) | 0.1285 | 0.07141 | 0.004966 | 2.492 | 0.04797 | 0.1124 | 0.2464 | 4.34 ×10−9 |
w/ SNR response scaling | ||||||||
GCC-PHAT (max) | 0.1335 | 0.07025 | 0.005124 | 2.259 | 0.03684 | 0.1176 | 0.2813 | 6.94 ×10−6 |
GCC-PHAT (sum) | 0.1010 | 0.06524 | 0.007256 | 2.501 | 0.03983 | 0.1105 | 0.1973 | 1.48 ×10−6 |
GCC-NONLIN (max) | 0.1227 | 0.07184 | 0.006535 | 2.254 | 0.04138 | 0.1196 | 0.2403 | 1.46 ×10−4 |
GCC-NONLIN (sum) | 0.1101 | 0.06766 | 0.004056 | 2.495 | 0.03898 | 0.1116 | 0.2240 | 6.54 ×10−6 |
MVDR (max) | 0.2669 | 0.11614 | 0.002071 | 2.498 | 0.05972 | 0.3117 | 0.4617 | 7.10 ×10−19 |
MVDR (sum) | 0.2468 | 0.11260 | 0.002633 | 2.475 | 0.05254 | 0.1940 | 0.4403 | 9.62 ×10−17 |
DS (max) | 0.2333 | 0.10711 | 0.004002 | 2.501 | 0.05783 | 0.1973 | 0.4350 | 1.37 ×10−14 |
DS (sum) | 0.1957 | 0.09952 | 0.007290 | 2.501 | 0.04939 | 0.1626 | 0.3760 | 2.86 ×10−12 |
DNM (max) | 0.2448 | 0.10371 | 0.000610 | 2.219 | 0.05417 | 0.1925 | 0.4523 | 1.69 ×10−14 |
DNM (sum) | 0.1967 | 0.09452 | 0.003334 | 2.478 | 0.05081 | 0.1501 | 0.3783 | 2.13 ×10−12 |
w/ RPSL post-processing | ||||||||
GCC-PHAT (max) | 0.0922 | 0.06516 | 0.003577 | 1.936 | 0.04173 | 0.0930 | 0.1844 | n.s. |
GCC-PHAT (sum) (best case) | 0.0746 | 0.05987 | 0.004076 | 2.490 | 0.04177 | 0.0852 | 0.1622 | N/A |
GCC-NONLIN (max) | 0.0965 | 0.06428 | 0.003356 | 1.937 | 0.03727 | 0.0962 | 0.1927 | 3.34 ×10−3 |
GCC-NONLIN (sum) | 0.0805 | 0.06190 | 0.002988 | 2.484 | 0.03913 | 0.0900 | 0.1706 | n.s. |
MVDR (max) | 0.1613 | 0.07477 | 0.001200 | 2.466 | 0.04130 | 0.1186 | 0.3334 | 7.74 ×10−9 |
MVDR (sum) | 0.1244 | 0.07330 | 0.003783 | 2.478 | 0.04414 | 0.1089 | 0.2646 | 3.56 ×10−6 |
DS (max) | 0.1619 | 0.07810 | 0.005783 | 2.481 | 0.04922 | 0.1179 | 0.3559 | 2.41 ×10−7 |
DS (sum) | 0.1689 | 0.07352 | 0.002433 | 2.484 | 0.04421 | 0.1159 | 0.3812 | 3.06 ×10−7 |
DNM (max) | 0.1810 | 0.07726 | 0.004760 | 2.661 | 0.04732 | 0.1266 | 0.4117 | 2.86 ×10−7 |
DNM (sum) | 0.1777 | 0.07683 | 0.004642 | 2.475 | 0.04434 | 0.1205 | 0.4284 | 1.12 ×10−6 |
w/ [28] T-F mask + RPSL post-processing | ||||||||
GCC-PHAT (max) | 0.0845 | 0.06388 | 0.002919 | 2.490 | 0.04131 | 0.0944 | 0.1750 | 3.10 ×10−3 |
GCC-PHAT (sum) | 0.0743 | 0.06234 | 0.005047 | 2.490 | 0.04126 | 0.0851 | 0.1621 | n.s. |
w/ [30] T-F mask + RPSL post-processing | ||||||||
GCC-PHAT (max) | 0.1125 | 0.06586 | 0.002449 | 1.905 | 0.04632 | 0.1076 | 0.2055 | 4.39 ×10−6 |
GCC-PHAT (sum) | 0.1038 | 0.06491 | 0.004966 | 2.492 | 0.04532 | 0.0944 | 0.2311 | 1.03 ×10−3 |
w/ SNR response scaling + RPSL post-processing | ||||||||
GCC-PHAT (max) | 0.0979 | 0.06657 | 0.005124 | 2.259 | 0.03562 | 0.1070 | 0.2145 | n.s. |
GCC-PHAT (sum) | 0.0827 | 0.05976 | 0.007256 | 2.501 | 0.03822 | 0.1043 | 0.1704 | 2.03 ×10−3 |
GCC-NONLIN (max) | 0.0954 | 0.06629 | 0.006180 | 2.254 | 0.03947 | 0.1096 | 0.1854 | n.s. |
GCC-NONLIN (sum) | 0.0971 | 0.06379 | 0.004056 | 2.495 | 0.03823 | 0.1076 | 0.2084 | 1.20 ×10−3 |
MVDR (max) | 0.1476 | 0.09110 | 0.002071 | 1.935 | 0.05083 | 0.1392 | 0.2560 | 2.79 ×10−11 |
MVDR (sum) | 0.1590 | 0.09449 | 0.002633 | 2.475 | 0.04783 | 0.1377 | 0.3062 | 2.02 ×10−10 |
DS (max) | 0.1321 | 0.08498 | 0.004002 | 2.501 | 0.04730 | 0.1347 | 0.2426 | 2.21 ×10−10 |
DS (sum) | 0.1208 | 0.08031 | 0.007290 | 2.501 | 0.04661 | 0.1321 | 0.2312 | 2.51 ×10−8 |
DNM (max) | 0.1693 | 0.09204 | 0.000610 | 1.948 | 0.05196 | 0.1463 | 0.3022 | 5.16 ×10−12 |
DNM (sum) | 0.1429 | 0.08071 | 0.003334 | 2.478 | 0.04672 | 0.1352 | 0.2823 | 4.35 ×10−9 |