## 5 Experiment and Results
### Localization Result  
In the experiment of layout 1, both the video and the acoustic signals were recorded as the sound source rotating from below to above the experimental platform. The signals were also recorded from the right to the left of the experimental platform in layout 2. Figure 7 shows the two groups of source location images (a, b, c) at different positions in layout 1. Each group of images contains the normal image captured by the optical camera, the environment depth image taken by the stereo camera, and the acoustic beamforming result on the surface of the experimental platform. The set of images (a) is obtained at the start position of layout 1 in this experiment, the sound source localization is obtained by the combination method and the result is (599, 454, 1644). The radiated sound power level at this position is 49.33 dB. The sound source localization results of the middle position (b) is (663, 384, 1632) and the sound power is 50.96 dB. The sound source localization results of the end position (c) is (726, 58, 1672) and the sound power is 50.50 dB. Figure 5: Geometry schematic of the experiment. Figure 6: Experimental setup. Figure 8 also shows the three groups of source location images (a, b, c) at different positions in layout 2. The set of images (a) is obtained at the start position in this experiment, the sound source localization is obtained by the combination method and the result is (497, 197, 1703). The radiated sound power level at this position is 82.84 dB. The sound source localization results of middle position (b) is (306, 21, 1874) and the sound power is 81.76 dB. The sound source localization results of end position (c) is (65, 158, 2060) and the sound power is 81.38 dB. Table 3 shows the positioning results and the corresponding sound power level of two layouts. In the Table, \(x,y\) is the pixel coordinate, and \(z\) is obtained by indexing their values in the depth image. Since the experimental platform was separated from the background, the experimental platform area could be easily distinguished from the depth image. In the experiment of layout 2, the actual number of reconstructed points in beamforming was about 22,000 points, and the number of pixels in this area accounted for about 8% of the total area. The combination method in this article added about 2.06 points of calculation in total. At the same time, in this experiment, the average time for the combined method to reconstruct a sound field was recorded as 0.039 s. The average time to reconstruct a 2D sound field using traditional reconstruction methods was 0.523 s. It can be seen that the combined method can effectively reduce the amount of computation. The obtained sound source depth was combined with the sound intensity scaling method to achieve the real-time acquisition of sound power. From these two layouts and settings, the position of the camera and array could also be adjusted to select a more suitable resolution in order to obtain better results according to actual needs. Figure 7: Sound source localization results of layout 1 (1000 Hz) in the experiment. (**a**) Images of the Start position. (**b**) Images of the Middle position. (**c**) Images of the End position. Figure 8: Sound source localization results of layout 2 (3000 Hz) in the experiment. (**a**) Images of the Start position. (**b**) Images of the Middle position. (**c**) Images of the End position.