Outdoor auditory scene analysis using a moving microphone array embedded in a quadrocopter. - Keita Okutani; Takami Yoshida; Keisuke Nakamura; Kazuhiro Nakadai (IROS, 2012)

Noise correlation matrix estimation for improving sound source localization by multirotor UAV. - Koutarou Furukawa; Keita Okutani; Kohei Nagira; Takuma Otsuka; Katsutoshi Itoyama; Kazuhiro Nakadai; Hiroshi G. Okuno (IROS, 2013)