1. A method for sound source localization comprising the steps of: (a) processing two or more signal components of a binaural signal and originating from a known sound source at a known position to gain a 2D time-frequency spectrum for each signal component; (b) jointly determining an ITD measurement and an ILD measurement of the time-frequency spectrum to generate frequency vs. displacement matrices for the ITD measurement and for the ILD measurement that jointly characterize the sound source; (c) learning separately for the ITD measurement and the ILD measurement, the averaged frequency vs. displacement matrices by repeating steps (a) and (b) with different positions of the known sound source; (d) comparing, separately for the ITD and the ILD measurements, a measured frequency vs. displacement matrix of the sound source with the learned matrices of step (c) to gain one or more probability distributions for the sound source location for one or more frequency channels, wherein the one or more probability distributions include at least one of an ITD probability distribution or an ILD probability distribution; (e) combining the one or more probability distributions to gain a joint probability distribution for the sound source localization; and (f) estimating the sound source location based on the joint probability distribution.