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This work presents a method for 6DoF binaural rendering from multi-point first- or higher-order Ambisonic (FOA/HOA) recordings. Previous methods were either based on wavefield decompositions or expansions, with extreme hardware requirements and a limited effective bandwidth, or based on spatial filtering of prominent sources, which can prove difficult in dense multi-source scenes in reverberant environments. The proposed method measures spatial parameters in the time-frequency domain that summarize the scene at the microphone positions. It then estimates the same parameters at the listener position through spatial interpolation of the measured ones. A prototype 3DoF binaural signal, produced from the FOA/HOA recording closest to the listener with high signal fidelity, is then adapted to match binaural cues dictated by the interpolated spatial parameters. The method is designed to support perceptually …