A method and associated system for estimating a quantity representative of the sound energy at at least one point of a three-dimensional space where a plurality of antennas are situated, each including at least K acoustic sensors, K being higher than or equal to 2, includes for each antenna of the plurality of antennas, production of a plurality of signals representative of the sound field at the antenna in question, for each antenna of the plurality of antennas, determination of a raw value of the quantity at the point based on at least K+1 elements of a matrix that are based respectively on pairwise combinations of representative signals produced by the antenna in question, and determination of an estimated value of the quantity at the point by combining the raw values of the quantity at the point determined respectively for the various antennas of the plurality of antennas.