A touch sensing module including a plurality of image sensors and a processing unit is provided. The image sensors are disposed beside a reference plane and configured to detect the reference plane and to convert a detection result into a plurality of image signals respectively. The processing unit is configured to receive and process the image signals from the image sensors. When an object moves with respect to the reference plane in a plurality of first times and intersects or approaches the reference plane in each of the first times, the processing unit selects one first diagonal having the least length variation in the first times from a plurality of first diagonals of a first polygon surrounding the object in each first time to be a first orientation diagonal corresponding to a real orientation of the object. A touch sensing method and a computer program product are also provided.