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 ...
more ...