Sensory substitution is a technique whereby sensory information in one modality such as vision can be assimilated by an individual in another modality such as hearing. This paper makes use of a depth sensor to provide a spatial-auditory sensory substitution system, which converts an array of range data to spatial auditory information in real-time. In experiments, participants were trained with the system then blindfolded, seated behind a table while equipped with the sensory substitution system while keeping the sensor in front of their eyes. In the experiments, participants had to localise a target on the table by reporting its direction and in its distance. Results showed that the using the proposed system participants achieved a high accuracy rate (90%) in detecting the direction of the object, and showed a performance of 56% for determining the object's distance.