An objective measure of head related transfer functions (HRTF) sensitivity in three dimensional spatial audio systems is presented. A family of three-dimensional surfaces yields visual representation of the spectral errors induced by the variations in physical misalignment of both listener and loudspeakers. A two-loudspeaker array over a range of subtended angles is investigated where sensitivities are computed for horizontal loudspeaker configurations using a pair-wise HRTF association allowing imaging performance to be estimated.
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