Acoustic Source Localization using Hough Transform

This is rather ugly solution out of conversation with MFTI students. Warm up for "Programming Kata".

Scene: cheap hardwire assempled into robot with 3 mics separated 10 cm each. On "Clap" robot is running towards clapper.

Simulation:

# Scene

c_speed_m = 340.29 # m / s
c_speed_cm= 34029 # cm/sec

# Grid size - area ...
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Wilson Score Confidence interval

Not sure where I got this snipplet - most likely from reddit code or discussion.

from math import sqrt

def confidence_fixed(ups, downs):
    if ups == 0:
        return -downs
    n = ups + downs
    z = 1.64485 #1.0 = 85%, 1.6 = 95%
    phat = float(ups) / n
    return (phat+z*z/(2*n)-z ...
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