A noise cancellation system for cancelling sounds within a vehicle. The noise cancellation system includes microphones, a camera, a controller, and speakers. The microphones are disposed adjacent to occupant locations, and configured to generate microphone signals representative of noise sounds and cancellation audio sounds. The camera is configured to generate a video signal that captures head configurations of the occupants. The controller is configured to receive rotor control signals, calculate hearing locations based on tracking data of the head configurations of the occupants, and generate a speaker signals based on the hearing locations, the microphone signals, and the rotor control signals. The speakers are configured to generate the cancellation audio sounds. The cancellation audio sounds attenuate the noise sounds.