In the acoustic object extraction device, beam forming processing units generate a first acoustic signal by beam forming in an arrival direction of a signal from an acoustic object with respect to a microphone array and generate a second acoustic signal by beam forming in an arrival direction of a signal from the acoustic object with respect to a microphone array, and a common component extraction unit extracts, on the basis of a similarity between the spectrum of the first acoustic signal and the spectrum of the second acoustic signal and from the first acoustic signal and the second acoustic signal, a signal containing a common component corresponding to the acoustic object. The common component extraction unit divides the spectrums of the first acoustic signal and the second acoustic signal into a plurality of frequency sections and calculates a similarity for each of the frequency sections.