Head-Related Transfer Functions (HRTFs) are used for adding spatial information in 3D audio synthesis or for binaural robotic sound localization. Both tasks work best when using a custom HRTF database that fits the physiology of each person or robot. Usually, measuring HRTFs is a time consuming and complex procedure that is performed with expensive equipment in an anechoic chamber. In this paper we present a method that enables HRTF measurement in everyday environments by passively recording the surroundings without the need to actively emit special excitation signals. Experiments show that our method captures the HRTF`s spatial cues and enables accurate sound localization.
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