PROBLEM TO BE SOLVED: To compare measurement data with teacher data to quickly determine whether or not both categories are the same.SOLUTION: There is disclosed an attitude detection device. The attitude detection device determines a first rotation moment matrix being a variance-covariance matrix from a matrix obtained from observation data showing a first attitude; determines a left singular vector and a right singular vector obtained by performing singular value decomposition of a second rotation moment matrix, which is obtained by adding the variance-covariance matrices to each of a plurality of pieces of teacher data over the plurality of pieces of teacher data, and first similarity between the plurality of pieces of teacher data and observation data from a matrix obtained by using the first rotation moment matrix; and compares the first similarity with second similarity between the plurality of pieces of teacher data obtained by using matrix elements of a specific value matrix obtained by performing specific value decomposition of the second rotation moment matrix, so as to determine whether or not the first attitude belongs to a category of attitude shown in the plurality of pieces of teacher data.
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