Recently, it has become a trend to construct a thermal environment with human thermal comfort. The advantage of human thermal comfort is that we could adjust the environment through the thermal sensation of human. Since human thermal comfort is influenced by several factors such as environmental temperature, environmental humidity, airflow, mean radiant heat, and so on, it is usually difficult to be directly evaluated. This paper proposes a method of estimating subjective thermal comfort and objective thermal comfort using CNN by RGB image data, thermal image data, and sensor data. We built a pipe-type booth in a room with a small air conditioner, two heaters, a humidifier, and a dehumidifier to acquired learning data, and we trained CNN under six different learning patterns to estimate thermal comfort. We found that image data is conducive to estimate subjective thermal comfort, and sensor data is conducive to estimating objective thermal comfort.CCS Concepts: • Human-centered computing → Ubiquitous and mobile computing design and evaluation methods.