Design of a compact omnidirectional sound camera using the three-dimensional acoustic intensimetry

•A compact omnidirectional sound camera using the 3D acoustic intensimetry.•A truncated stellated octahedral array compensating the spatial bias error.•Estimation of 3D acoustic intensity vector using the combined microphone array.•Performance comparison between 3D acoustic intensimetry and TDOA method.•Real-time source localization test in a reverberant room with T30 = 0.66 s.