ESTIMATION DEVICE, ESTIMATION METHOD, AND COMPUTER PROGRAM PRODUCT

According to an arrangement, an estimation device (20, 20-2) includes a storage unit (20B), an acquisition unit (21), and an estimation unit (22), and the estimation unit (22). The storage unit (20B) stores therein first position information indicating at least a position or a pose of a first landmark in a map. The acquisition unit (21) acquires second position information indicating at least a position or a pose of a second landmark in a neighborhood of a moving object. The estimation unit (22) estimates third position information and correspondence between the first landmark and the second landmark, based on the first and second position information, where the third position information indicates at least a position or a pose of the moving object in the map. The third position information and the matching are estimated such that an observation error of the second landmark in at least the position or the pose specified by the third position information and a matching error are reduced.