Abstract Acoustic emission (AE) source localization is crucial for monitoring but often relies on prior information, such as wave velocity and arrival time. This study introduces a novel method for locating AE sources in rocks without such information, addressing challenges posed by heterogeneous sensor arrays. Experiments involving pencil led break (PLB) tests on sandstone cubes collected AE waveforms and their coordinates. A ResNet-50 based deep learning model was developed to correlate the time-frequency spectra of AE with PLB locations, expressed as spatial Gaussian distributions. The model, achieved a 79% prediction accuracy for AE localization in complex environments. While there is room for improvement in training data quantity and diversity, the results validate the model’s effectiveness, particularly in coal mines and tunnel engineering.