  Many sound source localization (SSL) algorithms based on circular microphone
array (CMA), including uniform circular array (UCA) and uniform concentric
circular array (UCCA), have been well developed and verified via computer
simulations and offline processing. On the other hand, beamforming in the
harmonic domain has been shown to be a very efficient tool for broadband sound
source localization due to its frequency-invariant properties. In this paper,
design, implementation, and performance of a real-time sound source
localization system are discussed. Specifically, we analyze the effect of
parameter settings and compare the performance between UCA and UCCA through
real-time experiments in a real room. The proposed method shows significant
improvement by using UCCA instead of UCA.
