Shape derivation device and unloading device

This shape deriving device is provided with a region generating unit for generating a work region comprising a plurality of small regions which expand three-dimensionally, a measured data acquiring unit for acquiring, as required, measured data at measuring points on an object, measured using a distance measuring sensor, a data accumulating unit for accumulating, on the basis of the measured data at the measuring points, statistical data relating to the measuring points, in the small region corresponding to the measured data, and a shape deriving unit for deriving the shape of the object on the basis of the statistical data, wherein the data accumulating unit derives a comparison direction on the basis of the statistical data, and the shape deriving unit compares the statistical data between a plurality of small regions aligned in the comparison direction to identify the small regions corresponding to the surface of the object.