An appearance inspection system (1 configured to perform) appearance inspection by imaging a target using an imaging device while causing a relative position between the target and the imaging device to be different, the appearance inspection system comprising: the imaging device, configured to capture the image of the target, a robot that includes a plurality of arms and is configured to change the relative position of the imaging device with respect to the target, a first decision part configured to decide one imaging condition candidate or a plurality of imaging condition candidates including the relative position between the target and the imaging device in the inspection for each of a plurality of inspection target positions (Bi) on the target, each imaging condition candidate being expressed by parameters, wherein the first decision part is configured to decide a plurality of imaging condition candidates for at least one inspection target position (Bi) among the plurality of inspection target positions (Bi), and wherein the appearance inspection system further comprises a second decision part configured to decide a change route corresponding to the development of the parameters of the imaging condition which is suitable for sequentially imaging the plurality of inspection target positions (Bi) by selecting the one imaging condition candidate or one of the plurality of imaging condition candidates decided for each of the plurality of inspection target positions (Bi) as an imaging condition so that a pre-decided requirement is satisfied, wherein the second decision part is configured to calculate an evaluation value of each of a plurality of combination patterns in which at least one of an imaging order of the plurality of inspection target positions (Bi) and the imaging condition decided for the plurality of inspection target positions (Bi) is mutually different and decides the change route based on the evaluation value, wherein the calculation of the evaluation value is based on a term that varies in accordance with a value of a specific parameter of the parameters of the imaging condition candidates, wherein the imaging device includes an illumination part that radiates light to the target, a lens part that forms an image from light reflected from the target on an image sensor, and a camera control part configured to control the image sensor to output image data, and wherein the parameters of the imaging condition include at least one of an illumination condition of the illumination part, an optical condition of the lens part, and a control condition of the camera control part. the imaging device, configured to capture the image of the target, a robot that includes a plurality of arms and is configured to change the relative position of the imaging device with respect to the target, a first decision part configured to decide one imaging condition candidate or a plurality of imaging condition candidates including the relative position between the target and the imaging device in the inspection for each of a plurality of inspection target positions (Bi) on the target, each imaging condition candidate being expressed by parameters, wherein the first decision part is configured to decide a plurality of imaging condition candidates for at least one inspection target position (Bi) among the plurality of inspection target positions (Bi), and wherein the appearance inspection system further comprises a second decision part configured to decide a change route corresponding to the development of the parameters of the imaging condition which is suitable for sequentially imaging the plurality of inspection target positions (Bi) by selecting the one imaging condition candidate or one of the plurality of imaging condition candidates decided for each of the plurality of inspection target positions (Bi) as an imaging condition so that a pre-decided requirement is satisfied, wherein the second decision part is configured to calculate an evaluation value of each of a plurality of combination patterns in which at least one of an imaging order of the plurality of inspection target positions (Bi) and the imaging condition decided for the plurality of inspection target positions (Bi) is mutually different and decides the change route based on the evaluation value, wherein the calculation of the evaluation value is based on a term that varies in accordance with a value of a specific parameter of the parameters of the imaging condition candidates, wherein the imaging device includes an illumination part that radiates light to the target, a lens part that forms an image from light reflected from the target on an image sensor, and a camera control part configured to control the image sensor to output image data, and wherein the parameters of the imaging condition include at least one of an illumination condition of the illumination part, an optical condition of the lens part, and a control condition of the camera control part.