1. A processor-implemented method for spatial sound localization, the method comprising: obtaining, via a processor, a plurality of direction of arrival (DOA) estimates from a plurality of sensors; determining, via the processor, a set of intersection points based on the DOA estimates; receiving, via the processor, a number of sources in a current time frame; if the number of sources is more than 1, obtaining via the processor, a plurality of regions by dividing a plurality of possible locations of sources into a predefined number of combinations of DOA estimates; from amongst the plurality of regions, selecting, via the processor, a region having maximum number of intersection points; obtaining via the processor, a centroid of the intersection points in the selected region; estimating location of one of the plurality of sources based on the centroid; selecting the remaining region and obtaining a centroid of intersection points in the remaining region to yield location of the remaining source.