In an audio processing device, a target sound emphasizer generates a target sound emphasized component by emphasizing a target sound component contained in a plurality of audio signals generated by a plurality of sound receiving devices. A stereo processor generates a stereo component of a plurality of channels from the plurality of audio signals. A first adjuster adjusts a sound pressure level of the target sound emphasized component according to a first adjustment value, and a second adjuster adjusts a sound pressure level of the stereo component according to a second adjustment value. A variable setter variably sets a zoom value which is changeable between a wide angle side and a telephoto side relative to a target. An adjustment controller controls the first adjustment value according to the zoom value such that the sound pressure level of the target sound emphasized component exponentially decreases as the zoom value changes toward the wide-angle side and controls the second adjustment value according to the zoom value such that the sound pressure level of the stereo component increases as the zoom value changes toward the wide-angle side.