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Table 1 Results of sound localization

From: Human-assisted sound event recognition for home service robots

Distance Errors Direction
\(0^{\circ }\) \(\pm 45^{\circ }\) \(\pm 90^{\circ }\) \(\pm 135^{\circ }\) Sum
0.5 m Mean (°) −0.3 −0.1 −0.2 0.2 −0.2
Std (°) 1.5 2.0 1.9 1.6 1.7
1 m Mean (°) 0.6 −0.8 −0.2 0.5 −0.1
Std (°) 2.2 2.1 2.3 2.0 2.2
2 m Mean (°) 0.1 0.2 −0.1 0.1 −0.3
Std (°) 3.1 2.9 3.0 2.7 2.9
3 m Mean (°) 1.8 0.3 −1.1 −0.9 0.5
Std (°) 4.2 3.6 4.0 3.7 3.9