PROBLEM TO BE SOLVED: To efficiently learn a topological map by using sensor information and motion information (a continuity of movement and a mobile direction), etc., which are collected by the movement of a mobile body such as a mobile robot, etc., inside environment. SOLUTION: A Wiener unit candidate aggregation calculating means 102 calculates Wiener unit candidate aggregation being the aggregation of Wiener unit candidates corresponding to an input vector in a present input timing on a topological map 101. The means 102 calculates Wiener unit aggregation based on a Wiener unit which is calculated in a past input timing close to the present input timing, for example. A Wiener unit calculating means 103 calculates the Wiener unit corresponding to the input vector in the present input timing as the unit which receives the max. unit within the units included in Wiener unit candidate aggregation which is calculated by the Wiener unit candidate aggregation calculating means 102.
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