Embodiments are described for a method for localizing a set of speakers (106) and microphones (108), having only the times of arrival between each of the speakers and microphones. An autodiscovery process (107) uses an external input to set: a global translation (3 continuous parameters), a global rotation (3 continuous parameters), and discrete symmetries, i.e., an exchange of any axis pairs and/or reversal of any axis. Different time of arrival acquisition techniques may be used, such as ultrasonic sweeps or generic multitrack audio content. The autodiscovery algorithm is based in minimizing a certain cost function, and the process allows for latencies in the recordings, possibly linked to the latencies in the emission.