A takeout apparatus comprising: object takeout means; a position detecting device including image capturing means for capturing an image of an object to be taken out by the object takeout means; takeout position determining means for determining a position for taking out the object by said object takeout means based on an image of said object captured by the image capturing means of the position detecting device; wherein said image capturing means has an optical component arranged for capturing a two-dimensional image including an image of said object; characterized in that image processing means are provided for determining a size of an image of the object in the two-dimensional image captured by said image capturing means; storing means are provided storing relational information on a relationship between a distance from a reference position on an optical axis of the optical component of said image capturing means to the object on the optical axis, and the size of the image of the object in the two-dimensional image; distance determining means are provided arranged for obtaining information on a distance from said reference position to the object in the direction of said optical axis based on the size of the image of the object determined by said image processing means and said relational information stored in said storing means; said takeout position determining means is arranged for determining said position for taking out the object by said object takeout means based on the information on the distance from the reference position to the object in the direction of the optical axis determined by said distance determining means; the storing means are arranged to store a plurality of pieces of relation information prepared in association with a plurality of kinds of object; and the image processing means are arranged to identify a characteristic mark put on the object stacked in multiple stages, and to pick out specific relation information that corresponds to the kind of object having the identified characteristic mark from among the plurality of pieces of relation information. object takeout means; a position detecting device including image capturing means for capturing an image of an object to be taken out by the object takeout means; takeout position determining means for determining a position for taking out the object by said object takeout means based on an image of said object captured by the image capturing means of the position detecting device; wherein said image capturing means has an optical component arranged for capturing a two-dimensional image including an image of said object; characterized in that image processing means are provided for determining a size of an image of the object in the two-dimensional image captured by said image capturing means; storing means are provided storing relational information on a relationship between a distance from a reference position on an optical axis of the optical component of said image capturing means to the object on the optical axis, and the size of the image of the object in the two-dimensional image; distance determining means are provided arranged for obtaining information on a distance from said reference position to the object in the direction of said optical axis based on the size of the image of the object determined by said image processing means and said relational information stored in said storing means; said takeout position determining means is arranged for determining said position for taking out the object by said object takeout means based on the information on the distance from the reference position to the object in the direction of the optical axis determined by said distance determining means; the storing means are arranged to store a plurality of pieces of relation information prepared in association with a plurality of kinds of object; and the image processing means are arranged to identify a characteristic mark put on the object stacked in multiple stages, and to pick out specific relation information that corresponds to the kind of object having the identified characteristic mark from among the plurality of pieces of relation information.