1. A learning type position determining device of a mobile object having first and second sensors, for determining position of the mobile object in a move space, comprising: return information processing means for generating return information corresponding to a relative position of the mobile object from an origin in the move space according to a first sensor signal from the first sensor; sense information processing means for generating sense information corresponding to an environment state surrounding the mobile object at the relative position according to a second sensor signal from the second sensor; information integrating means for inferring return information corresponding to the sense information input from said sense information processing means, and for outputting the inferred return information after learning a correlation between the return information and the sense information and integrating the return information and the sense information.