Abstract: Provided are a method and a device for determining a shape match in three dimensions, which can utilize information relating to three-dimensional shapes effectively. Camera control means (33) of a determination device (10) captures a range image of an object as a determination target by using a range imaging camera (20). Feature point extraction means (34) extracts feature points based on the range image. Feature amount determination means (35) calculates a three-dimensional shape around the feature point as depths of surface points and determines a feature amount of the feature point based on the depths of the surface points. Match determination means (36) determines the match therebetween based on the feature amounts of the two shapes.