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Table 2 RMSE for tracking scenarios for various array position shift (measured in mm). The error is calculated in meters

From: Forward-backward recursive expectation-maximization for concurrent speaker tracking

Array shift std [mm] xSRP-PHAT [m] TF-REM [m] TFB-REM [m]
0 0.561 0.181 0.099
1 0.761 0.185 0.146
10 0.576 0.186 0.131
50 0.701 0.187 0.152