Spherical microphone and loudspeaker arrays present a compact method for analysis and synthesis of arbitrary threedimensional sound fields. Issues such as sensor self noise, sensor placement errors, and mismatch require robustness constraints in beamformer design. We present a method for designing robust beam-patterns with an arbitrary shape and an efficient method for steering the resulting patterns in three dimensions. This technique is used for two applications: synthesizing spherical microphone array recordings over loudspeaker arrays and binaurally over headphones with head tracking.

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