Techniques for estimating a direction of arrival of sound in an environment are discussed. First and second audio data are received from a first pair of audio sensors associated with a vehicle. A first region of ambiguity associated with the first pair of audio sensors is determined based on the first and second audio data. Third and fourth audio data are received from a second pair of audio sensors. A second region of ambiguity associated with the second pair of audio sensors is determined based on the third and fourth audio data. The regions of ambiguity can be further based on confidence levels associated with sensor or audio data. An area of intersection of the first region of ambiguity and the second region of ambiguity can be determined. A direction of arrival of an audio event can be determined based on the area of intersection.