Robotic perception is emerging as a crucial technology for navigation aids, particularly benefiting individuals with visual impairments through sonification. This paper presents a novel mapping framework that accurately represents spatial geometry for sonification, transforming physical spaces into auditory experiences. By leveraging depth sensors, we convert incrementally built 3D scenes into a compact 360-degree representation based on angular and distance information, aligning with human auditory perception. Our proposed mapping framework utilises a sensor-centric structure, maintaining 2D circular or 3D cylindrical representations, and employs the VDB-GPDF for efficient online mapping. We introduce two sonification modes-circular ranging and circular ranging of objects-along with real-time user control over auditory filters. Incorporating binaural room impulse responses, our framework provides perceptually robust auditory feedback. Quantitative and qualitative evaluations demonstrate superior performance in accuracy, coverage, and timing compared to existing approaches, with effective handling of dynamic objects. The accompanying video showcases the practical application of spatial sonification in room-like environments.

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