The present invention makes it possible to reduce noise from a driving unit with a two-channel microphone configuration. An audio processing apparatus has a first microphone whose main acquisition target is sound from outside of the apparatus, a second microphone whose main acquisition target is driving noise from the driving unit, and a noise removing unit that generates two-channel audio data in which driving noise made by the driving unit of the apparatus has been reduced based on the difference between time-series audio data acquired by the first microphone and time-series audio data acquired by the second microphone. This noise removing unit has two adaptive filter units that respectively perform filter processing on time-series audio data from the first microphone and time-series audio data from the second microphone, and generates stereo two-channel audio data.