The invention relates to a method and device for reproducing sound from a first input audio signal (1) using a plurality of first loudspeakers (4) and producing a target binaural impression to a listener (6) within a listening area (55). In order to decrease the sensibility of the reproduction of sound to the environment acoustics and to simplify the adaptation of the reproduced sound to the listener's head orientation and position, it is proposed to first define a plurality of second virtual loudspeakers (49) positioned outside of the listening area (55), then to estimate a transfer function (17) between each second virtual loudspeaker (49) and the listener's ears (7a and 7b), to compute from the estimated transfer functions (17) transaural filters (2) that modify the said first input audio signal (1) to synthesize second audio input signals (30) and to synthesize input signals (3) from second audio input signals (30) for creating a synthesized wave field (34) by the said first loudspeakers (4) that appears, within the listening area (55), to be emitted by the plurality of second virtual loudspeakers (49) as a plurality of wave fronts (50) in order to reproduce the target binaural impression at the ears of the listener (7a and 7b).