Robust signal detection against various types of background noise is implemented. According to a signal detection apparatus, the feature amount of an input signal sequence and the feature amount of a noise component contained in the signal sequence are extracted. After that, the first likelihood indicating probability that the signal sequence is detected and the second likelihood indicating probability that the noise component is detected are calculated on the basis of a predetermined signal-to-noise ratio and the extracted feature amount of the signal sequence. Additionally, a likelihood ratio indicating the ratio between the first likelihood and the second likelihood is calculated. Detection of the signal sequence is determined on the basis of the likelihood ratio.