POSITION DETECTION DEVICE, POSITION DETECTION METHOD, AND POSITION DETECTION PROGRAM

There is provided a position detection device that recognizes a presence position of a target object in a three-dimensional space. The device acquires three-dimensional point cloud information of the space and a plurality of images obtained by imaging an area including surroundings of an object in the space from different imaging points. A region detection unit receives, as an input, the plurality of acquired images, determines whether a target object appears in the plurality of images, and detects a region of the object in each of the plurality of images in a case where the target object appears in each of the images. A specifying unit specifies a region of a point cloud corresponding to the target object based on the point cloud information and the region of the object detected in each of the images. A position detection unit specifies a position of the target object in the space by recognizing points corresponding to the target object from the point cloud information of the region specified by the specifying unit.