This　study　proposes　a　three-dimensional　room　transfer　function　(RTF)　parameterization　method　based　on　multiple　concentric　planar　circular　arrays,　which　exhibits　robustness　to　variations　in　the　positions　of　both　the　receiver　and　source.　According　to　the　harmonic　solution　to　the　wave　equation,　the　RTFs　between　two　spherical　regions　(sound　source　and　receiver)　in　a　room　can　be　expressed　as　a　weighted　sum　of　spherical　harmonics,　whose　weight　coefficients　serve　as　the　RTF　parameters,　which　can　be　estimated　by　placing　multiple　concentric　planar　circular　arrays　composed　of　monopole-source　pairs　(MSPs)　and　multiple　concentric　planar　circular　arrays　composed　of　omnidirectional-microphone　pairs　(OMPs)　in　respective　source　and　receiver　regions.　We　use　MSP　arrays　to　generate　required　outgoing　soundfields　originating　from　a　source　region.　We　derive　a　method　to　use　OMP　arrays　to　estimate　RTF　parameters　that　are　concealed　within　the　captured　soundfield,　which　can　be　employed　to　reconstruct　the　RTF　from　any　point　in　the　source　region　to　any　point　in　the　receiver　region.　The　accuracy　of　the　RTF　parameterization　method　is　validated　through　simulation　testing.