An audio processing apparatus, comprising: a plurality of audio sensors, including a primary audio sensor and at least two secondary audio sensors, configured to detect an audio signal from a target audio source, wherein the primary audio sensor defines at least two pairs of audio sensors with the at least two secondary audio sensors; and a processing circuitry configured to: determine for each pair of audio sensors a first set of likelihoods of spatial directions of the target audio source using a first localization scheme; determine a second set of likelihoods of spatial directions of the target audio source using a second localization scheme; and characterised by determine a third set of likelihoods of spatial directions of the target audio source on the basis of the first sets of likelihoods of spatial directions and the second set of likelihoods of spatial directions; wherein the processing circuitry is further configured to determine for each pair of audio sensors a set of similarity weights on the basis of the first set of likelihoods of the respective pair of audio sensors and the second set of likelihoods, wherein each similarity weight represents a similarity measure value between the respective first set of likelihoods and the second set of likelihoods in a respective spatial direction and neighbouring spatial directions thereof; and wherein the processing circuitry is further configured to determine a current spatial direction of the target audio source on the basis of the third set of likelihoods by determining the most likely spatial direction defined by the third set of likelihoods of spatial directions of the target audio source. a plurality of audio sensors, including a primary audio sensor and at least two secondary audio sensors, configured to detect an audio signal from a target audio source, wherein the primary audio sensor defines at least two pairs of audio sensors with the at least two secondary audio sensors; and a processing circuitry configured to: determine for each pair of audio sensors a first set of likelihoods of spatial directions of the target audio source using a first localization scheme; determine a second set of likelihoods of spatial directions of the target audio source using a second localization scheme; and characterised by determine a third set of likelihoods of spatial directions of the target audio source on the basis of the first sets of likelihoods of spatial directions and the second set of likelihoods of spatial directions; wherein the processing circuitry is further configured to determine for each pair of audio sensors a set of similarity weights on the basis of the first set of likelihoods of the respective pair of audio sensors and the second set of likelihoods, wherein each similarity weight represents a similarity measure value between the respective first set of likelihoods and the second set of likelihoods in a respective spatial direction and neighbouring spatial directions thereof; and wherein the processing circuitry is further configured to determine a current spatial direction of the target audio source on the basis of the third set of likelihoods by determining the most likely spatial direction defined by the third set of likelihoods of spatial directions of the target audio source. determine for each pair of audio sensors a first set of likelihoods of spatial directions of the target audio source using a first localization scheme; determine a second set of likelihoods of spatial directions of the target audio source using a second localization scheme; and characterised by determine a third set of likelihoods of spatial directions of the target audio source on the basis of the first sets of likelihoods of spatial directions and the second set of likelihoods of spatial directions; wherein the processing circuitry is further configured to determine for each pair of audio sensors a set of similarity weights on the basis of the first set of likelihoods of the respective pair of audio sensors and the second set of likelihoods, wherein each similarity weight represents a similarity measure value between the respective first set of likelihoods and the second set of likelihoods in a respective spatial direction and neighbouring spatial directions thereof; and wherein the processing circuitry is further configured to determine a current spatial direction of the target audio source on the basis of the third set of likelihoods by determining the most likely spatial direction defined by the third set of likelihoods of spatial directions of the target audio source.