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We propose an algorithm for multimodal object localization with a depth sensor and stereo microphones. For this we formulate a joint probability distribution of object locations conditioned upon depth and acoustic observations. Then we use the maximum a posteriori estimation for object localization. For multimodal fusion, we map likelihood of acoustic observation given time difference of arrival information to that given object location in a three dimensional space. Our method offers a principled way to fuse information from microphones and depth sensors, and experimentally we find that it reliably locates the object without requiring careful calibration of the sensors.

Maximum a posteriori Multimodal 3D Object Localization With a Depth Sensor and Stereo Microphones