An operation teaching device used in operation teaching during movement and/or rotation operation of an object (2h) to adjust the object to a predetermined position and direction, including: a TOF type depth image camera (40) for obtaining three-dimensional shape information about the object； extraction means for extracting a feature region from the three-dimensional shape information acquired by the TOF type depth image camera (40) using a luminance image of the object obtained from information about light receiving intensity of the projection light, the projection light being reflected from the object and received with light receiving means； and generation means for generating information for the operation teaching by calculating a deviation between the three-dimensional shape information including the feature region of the object in the predetermined position and direction and the three-dimensional shape information including the feature region of the object in a current position and direction.
