An objective of the present invention is to provide a three-dimensional position/attitude recognition apparatus, a three-dimensional position/attitude recognition method, and a three-dimensional position/attitude recognition program, that can perform three-dimensional position/attitude recognition on an object by analyzing an image of an edge portion with a simple configuration. A three-dimensional position/attitude recognition apparatus according to the present invention includes: a detection part for detecting an edge direction of an object by analyzing an image element of an object in at least one of first and second images that have been captured; a determination part for determining whether or not to change relative positions of the object and at least one of first and second image capturing parts based on a result of the detection; and a movement part for moving at least one of the first and second image capturing parts relative to the object.