Three-dimensional shape data position matching method and device

A three-dimensional shape data position matching method for measuring a static three-dimensional shape from a plurality of measuring positions, and for combining and position matching the distance data thereof, including: a data inputting step S1 for inputting, into a computer, coordinate values on a three-dimensional shape at a new measuring position; a model structuring step S4 for structuring an environment model that partitions a spatial region in which the three-dimensional shape exists, into a plurality of voxels formed from rectangular solids, of which the boundary surfaces are mutually perpendicular, and stores the positions of the individual voxels; a matching step S5 for setting and recording a representative point and an error distribution thereof, within the voxel corresponding to the coordinate value; a fine matching step S7 for position matching so as to minimize the summation of the distances between adjacent error distributions by rotating and translating a new measured data and error distribution, or rotating and translating an environment model for a new measuring position, relative to an environment model for a previous measuring position; and an outputting step for outputting, to an outputting device, the voxel position, the representative point, and the error distribution.