A frequency domain transforming section 2 transforms mixed signals observed by multiple sensors into mixed signals in the frequency domain, a complex vector generating section 3 generates a complex vector by using the frequency-domain mixed signals, a normalizing section 4 generates a normalized vector excluding frequency dependence of the complex vector, and a clustering section 5 clusters the normalized vectors to generate clusters. Then, a separated signal generating section 6 generates separated signals in the frequency domain by using information about the clusters and a time domain transforming section 7 transforms the separated signals in the frequency domain into separated signals in the time domain.