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A Bayes-rule based hierarchical binaural sound source localization system is proposed. By combining three localization cues: interaural time differences (ITDs), interaural intensity differences (IIDs), and spectral cues, and a hierarchical decision making structure, this system enables a sound source to be located in a 3D space by using only the binaural inputs. Preliminary simulations have shown the effectiveness of this system. It can be used in studying binaural localization mechanism and applications such as in hearing aids and robotics.