A heating cooker, comprising: a top plate on which a container containing a cooking object is mounted; a heater (16A; 16B; 16C) which is provided in a lower side of the top plate and heats the container which is mounted on the top plate; a camera which is disposed on an upper side of the top plate and images the top plate from above; a temperature sensor (26A; 26B; 26C) which is disposed on the lower side of the top plate and detects a temperature of the container which is mounted on the top plate; and a controller which estimates a state of the cooking object in an inside of the container based on a captured image of the camera and a detection temperature of the temperature sensor (26A; 26B; 26C) and controls output of the heater (16A; 16B; 16C) based on an estimation result, characterized in that the controller is configured to calculate a temperature of an upper side portion of the cooking object based on a captured image of the camera, wherein the controller is configured to estimate a state of the cooking object in the inside of the container based on difference between an upper temperature and a lower temperature which is difference in temperature between the calculated temperature of the upper side portion of the cooking object and the detection temperature of the temperature sensor (26A; 26B; 26C), and/or in that the controller is configured to calculate a temperature of an upper side portion of the cooking object based on a captured image of the camera, wherein the controller is configured to estimate a heating amount to the cooking object in the inside of the container based on change in the calculated temperature of the upper side portion of the cooking object and change in the detection temperature of the temperature sensor (26A; 26B; 26C). a top plate on which a container containing a cooking object is mounted; a heater (16A; 16B; 16C) which is provided in a lower side of the top plate and heats the container which is mounted on the top plate; a camera which is disposed on an upper side of the top plate and images the top plate from above; a temperature sensor (26A; 26B; 26C) which is disposed on the lower side of the top plate and detects a temperature of the container which is mounted on the top plate; and a controller which estimates a state of the cooking object in an inside of the container based on a captured image of the camera and a detection temperature of the temperature sensor (26A; 26B; 26C) and controls output of the heater (16A; 16B; 16C) based on an estimation result, characterized in that the controller is configured to calculate a temperature of an upper side portion of the cooking object based on a captured image of the camera, wherein the controller is configured to estimate a state of the cooking object in the inside of the container based on difference between an upper temperature and a lower temperature which is difference in temperature between the calculated temperature of the upper side portion of the cooking object and the detection temperature of the temperature sensor (26A; 26B; 26C), and/or in that the controller is configured to calculate a temperature of an upper side portion of the cooking object based on a captured image of the camera, wherein the controller is configured to estimate a heating amount to the cooking object in the inside of the container based on change in the calculated temperature of the upper side portion of the cooking object and change in the detection temperature of the temperature sensor (26A; 26B; 26C).