1. A method for determining a coordinate location of an object emitting sound using a computing, device, the method comprising: capturing three-dimensional images of a region of space wherein the object is located using one or more depth sensors, the images comprising three-dimensional depth sensor observations; collecting ambient audio generated by the object using two or more acoustic sensors, the ambient audio providing acoustic observation regarding the ambient audio time difference of arrival at the audio sensors; and determining a three-dimensional coordinate location of the object using the computing device, wherein the three-dimensional coordinate location corresponds to the maximum of a joint probability distribution characterizing the probability of the acoustic observations emanating from each coordinate location in the region of space and the probability of depth sensor observations corresponding to each coordinate location in the region of space.