POSITION ESTIMATION DEVICE, CONTROL DEVICE, INDUSTRIAL VEHICLE, LOGISTICS SUPPORT SYSTEM, POSITION ESTIMATION METHOD, AND PROGRAM

A device is for estimating a position of a vehicle equipped with a laser scanner capable of acquiring point cloud data by scanning a laser beam and a camera capable of acquiring an image in a predetermined direction. The device includes an acquisition unit configured to acquire the point cloud data and the image, an estimation unit configured to estimate the position based on the point cloud data or the image, and an extraction unit configured to extract, from the point cloud data, valid point cloud data that is usable for estimating the position. The estimation unit is configured to estimate the position using: (i) the valid point cloud data if a number of pieces of valid point cloud data is equal to or greater than a predetermined number; and (ii) the image if the number of pieces of valid point cloud data is less than the predetermined number.