Abstract: For the azimuth accuracy of sound source localization, this paper adopted wavelet analysis to denoise signal with soft-threshold. Based on this, estimated the rough azimuth degree using the auditory system of robot. In order to gain the fine direction of azimuth, paper provided the error compensation model of azimuth with binocular stereo vision system. Through experiments, the provided coarse-to-fine strategy and algorithm can generates more accurate results for sound source localization.