Check the related thread Enhancing the Headphone Experience - Applied Psychoacoustics and Binaural surround sound - #6 by Gimlet. Alongside the commercial opportunities offered by headphone implementations of Dolby Atmos and Auro 3D, this subject is now getting a lot of academic focus at European universities.
The University of Huddersfield (UK) is now marketing a software HRTF-based binaural implementation (Virtuoso, which works with Roon) and the University of Antwerp is offering personalised HRTF measurements as well as head trackers. To my mind, this is fantastic progress, as it means that formerly esoteric hi-fi and theoretical discussions are now becoming mainstream, and relatively affordable and high quality binaural software and hardware products are more likely to come to the market in the near future. Of course, the Smyth Realiser is already in the market, but this hardly qualifies as “affordable”.