Fecha de publicación: 22/12/2022 Fuente: WIPO (eseential oils OR extracts) This invention is capable of estimating the three-dimensional position of a buried object using a set of two-dimensional ground penetrating radar data.　In this position estimation device, a candidate point extraction unit extracts buried object position candidate points from ground penetrating radar data that is two-dimensional data obtained through measurement of a buried object that is buried in the ground. A two-dimensional processing unit inputs the ground penetrating radar data into a recognition device that has been trained in advance to output a recognition score representing buried object likeness and outputs recognition scores representing the buried object likenesses corresponding to the candidate points. A three-dimensional integration unit integrates the ground penetrating radar data using a graph structure on the basis of the recognition scores and relative position information for the ground penetrating radar data and estimates the three-dimensional position of the buried object.