Audio receive beamforming is performed by a computing system. A set of audio signals are obtained via a microphone array and a set of inertial signals are obtained via a set of inertial sensors of a mobile device. A location of a targeted object to beamform is identified within a camera feed captured via a set of one or more cameras imagining an environment of the mobile device. A parameter of a beamforming function is determined that defines a beamforming region containing the targeted object based on the set of inertial signals and the location of the targeted object. The beamforming function is applied to the set of audio signals using the parameter to obtain a set of processed audio signals that increases a signal-to-noise ratio of an audio source within the beamforming region relative to the set of audio signals.