Looking for a toolbox to construct geometry from acoustics

Do you know of a good toolbox to infer geometry from acoustics within MATLAB? This is similar to the classic sonar problem, although not limited to a single source, and we do not necessarily know the source (nor sensor) positions in advance.

Even a toolbox with some constraints would be acceptable: only orthogonal, flat surfaces; no high-order reverb; or only a single source; etc.