A monitoring device includes a range imaging sensor, a bed recognition unit, a person recognition unit, a movement determination unit and a notification unit. The range imaging sensor generates a range image wherein pixel values are distance values to an object, the entirety of a bed to be monitored being included in a field of vision thereof. The bed recognition unit extracts a location of the bed using the range image. The person recognition unit detects regions occupied by a person inside and outside of the range of the bed recognized by the bed recognition unit in the range image. The movement determination unit determines the movement of the person relative to the bed using a combination of the regions of the bed detected by the bed recognition unit and the person detected by the person recognition unit. The notification unit notifies a determination result of the movement determination unit.
