Proposed is an acoustic output device that obtains enough distance attenuation to achieve localization of a sound field by controlling the driving of a loudspeaker array by use of a more compact shape. The acoustic output device 10 comprises: a loudspeaker array 20 that includes a plurality of loudspeakers 20-1, 20-2, . . . , 20-N arranged in a two-dimensional plane; and an amplifier array 40 that includes a plurality of amplifiers 40-1, 40-2, . . . , 40-N that control the amplitude and phase of the drive signals for each loudspeaker according to the eigenvectors of the predetermined radiation mode of the loudspeaker array 20.