The present invention relates to a sound emitting and collecting apparatus including a sound collecting portion that captures surrounding sound using two microphones, and a sound emitting portion that emits sound from at least one speaker. The apparatus includes a sound source separating portion that extracts a target sound from a sound source in a predetermined direction, based on an input sound signal obtained by capturing surrounding sound using the two microphones, and an emission non-target sound removing portion that removes a non-target sound that is emitted from the speaker and captured by each of the microphones, based on sound source data for the sound emitting portion. The emission non-target sound removing portion is provided on a path that reaches the sound source separating portion. The emission non-target sound removing portion has a structure similar to an acoustic echo canceller, for example.