A recognition program and the like that can prevent recognition accuracy decrease due to the occurrence of occlusion are provided. The recognition program causes a computer (100) to execute processing of acquiring positional relation between a plurality of sensors (10) each of which senses a distance to an object (5). The recognition program causes the computer to execute processing of provisionally classifying an orientation of the object relative to each individual sensor into one of a plurality of classifications based on sensing data acquired by the individual sensor included in the sensors. The recognition program causes a computer to execute processing of calculating likelihood of each combination corresponding to the positional relation between the sensors based on a result of the provisional classification of the orientation of the object relative to the individual sensor. The recognition program causes a computer to execute processing of classifying the orientation of the object corresponding to each individual sensor in accordance with the calculated likelihood of each combination.
