Embodiments relate to obtaining filter coefficients for a binaural synthesis filter; and applying a compensation filter to reduce artefacts resulting from the binaural synthesis filter; wherein the filter coefficients and compensation filter are configured to be used to obtain binaural audio output from a monaural audio input. The filter coefficients and compensation filter may be applied to the monaural audio input to obtain the binaural audio output. The compensation filter may comprise a timbre compensation filter.