A fundamental task for a robotic audition system is sound source localization. This paper addresses the localization problem in a robotic humanoid context, providing a novel learning algorithm that uses binaural cues to determine the sound source’s position. Sound signals are extracted from a humanoid robot’s ears. Binaural cues are then computed to provide inputs for a neural network. The neural network uses pixel coordinates of a sound source in a camera image as outputs. This learning approach provides good localization performances as it reaches very small errors for azimuth and elevation angles estimates.