In a technology of acquiring an object position by a visual cone intersection method, an object position estimation device which reduces estimation of incorrect position due to ghost image objects is provided, wherein an object candidate acquisition means estimates an object position by a visual cone intersection method and acquires a candidate object, an object candidate information storage means which stores information on overlap among the candidate objects for the visual cone of the object which is acquired based on the captured image, a degree of co-movement acquisition means acquires an index as a degree of co-movement which is calculated based on number of visual cones including other candidate objects which co-move with a movement of the candidate object and indicates interrelation among candidate objects for candidate objects, and a candidate object determination means identifies said candidate object as either an object or a non-object by a posteriori probability based on the acquired index and outputs position of said candidate object which is determined as an object.