POSITION ESTIMATION DEVICE, MOVING-OBJECT CONTROL SYSTEM, POSITION ESTIMATION METHOD, AND COMPUTER PROGRAM PRODUCT

A position estimation device according to an embodiment of the present disclosure is provided for estimating a self-position of a moving object device provided with one or more sensors for observing information related to movement. The position estimation device includes one or more hardware processors configured to: estimate a state amount representing a state of each of the one or more sensors based on an observation value of the corresponding sensor; calculate a confidence degree representing a degree of confidence of the state amount of each of the one or more sensors; select one or more target sensors from among the one or more sensors based on the confidence degree of the state amount of each of the one or more sensors; and estimate the self-position based on the observation value and the state amount of each of the selected one or more target sensors.