A sound source location is estimated by particle filtering where a set of particles represents a probability density function for a state variable comprising the sound source location. The method includes determining the weight for a particle in response to a correlation between estimated acoustic transfer functions from the sound source to at least two sound recording positions. A weight update function may specifically be determined deterministically from the correlation and thus the correlation may be used as a pseudo-likelihood function for the measurement function of the particle filtering. The acoustic transfer functions may be determined from an audio beamforming towards the sound source. The audio weight may be combined with a video weight to generate a multi-modal particle filtering approach.