A filter generation device comprising: a filter generation unit configured to generate a filter in accordance with transfer characteristics from left and right speakers to left and right microphones based on sound pickup signals, the sound pickup signals being acquired by picking up, using the left and right microphones, a measurement signal output from the speakers, wherein the filter generation unit includes: a search unit configured to search for a direct sound arrival time by using a time at which an absolute value of an amplitude reaches its maximum in each of first transfer characteristics from the left speaker to the left microphone and second transfer characteristics from the right speaker to the right microphone, wherein: the search unit sets, as the direct sound arrival time, a time at which the transfer characteristics have a first local maximum point higher than a threshold before the time at which the absolute value of the amplitude reaches its maximum; and when the local maximum point does not exist before the time at which the absolute value of the amplitude reaches its maximum, the search unit sets, as the direct sound arrival time, the time at which the absolute value of the amplitude reaches its maximum, a determination unit configured to determine whether signs of amplitudes of the first and second transfer characteristics at the direct sound arrival time match, a correction unit configured to correct cutout time of the first transfer characteristics or the second transfer characteristics when: the signs of the amplitudes of the first and second transfer characteristics at the direct sound arrival time do not match, and the direct sound arrival time of the first transfer characteristics does not match the direct sound arrival time of the second transfer characteristic, and a cutout unit configured to cut out the first transfer characteristics or the second transfer characteristics at the cutout time corrected by the correction unit, and thereby generate the filter. a search unit configured to search for a direct sound arrival time by using a time at which an absolute value of an amplitude reaches its maximum in each of first transfer characteristics from the left speaker to the left microphone and second transfer characteristics from the right speaker to the right microphone, wherein: the search unit sets, as the direct sound arrival time, a time at which the transfer characteristics have a first local maximum point higher than a threshold before the time at which the absolute value of the amplitude reaches its maximum; and when the local maximum point does not exist before the time at which the absolute value of the amplitude reaches its maximum, the search unit sets, as the direct sound arrival time, the time at which the absolute value of the amplitude reaches its maximum, the search unit sets, as the direct sound arrival time, a time at which the transfer characteristics have a first local maximum point higher than a threshold before the time at which the absolute value of the amplitude reaches its maximum; and when the local maximum point does not exist before the time at which the absolute value of the amplitude reaches its maximum, the search unit sets, as the direct sound arrival time, the time at which the absolute value of the amplitude reaches its maximum, a determination unit configured to determine whether signs of amplitudes of the first and second transfer characteristics at the direct sound arrival time match, a correction unit configured to correct cutout time of the first transfer characteristics or the second transfer characteristics when: the signs of the amplitudes of the first and second transfer characteristics at the direct sound arrival time do not match, and the direct sound arrival time of the first transfer characteristics does not match the direct sound arrival time of the second transfer characteristic, and the signs of the amplitudes of the first and second transfer characteristics at the direct sound arrival time do not match, and the direct sound arrival time of the first transfer characteristics does not match the direct sound arrival time of the second transfer characteristic, and a cutout unit configured to cut out the first transfer characteristics or the second transfer characteristics at the cutout time corrected by the correction unit, and thereby generate the filter.