On-line sound event localization and detection for real-time recognition of surrounding environment

•Sound Event Localization and Detection (SELD) is a task that jointly addresses Sound Event Detection (SED) and direction of arrival (DOA) estimation.•SELD is a fundamental component for applications such as driver assistance and security systems. For these applications, an on-line and low-latency SELD system is required.•This paper proposes on-line extension of a SELD system.•Experimental results showed that on-line extension of SELD does not degrade DOA estimation performance, but SED performance is degraded at low latency.•We found that the main cause of the SED performance degradation in the on-line setting with low latency is difficulty in identifying events with short duration.