A three-dimensional sensor 20 generates multiple items of line data LD1 through LDN with respect to multiple horizontal lines L1 through LN arranged at different heights. Multiple first neural networks 72 each generate first intermediate data MD relating to a corresponding item from among the multiple items of line data LD. Each first intermediate data MD1 indicates the probability of matching between the corresponding line data and each of multiple portions of multiple kinds. A combining processing unit 74 receives the multiple items of first intermediate data MD1, and combines the first intermediate data thus received so as to generate at least one item of second intermediate data MD2. A second neural network 76 receives the at least one item of second intermediate data MD2, and generates final data FD that indicates the probability of matching between the object OBJ and each of the multiple kinds.
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