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The problem of tracking multiple moving speakers in indoor environments has received much attention. Earlier techniques were based purely on a single modality, e.g., vision. Recently, the fusion of multi-modal information has been shown to be instrumental in improving tracking performance, as well as robustness in the case of challenging situations like occlusions (by the limited field of view of cameras or by other speakers). However, data fusion algorithms often suffer from noise corrupting the sensor measurements which cause non-negligible detection errors. Here, a novel approach to combining audio and visual data is proposed. We employ the direction of arrival angles of the audio sources to reshape the typical Gaussian noise distribution of particles in the propagation step and to weight the observation model in the measurement step. This approach is further improved by solving a typical problem …