A map creation device includes a processor, and the processor is configured to execute a program to acquire an image captured by a camera mounted in a vehicle, estimate a first position indicating a position of the vehicle and an error of the first position based on information indicating a traveling state of the vehicle, estimate a second position indicating the position of the vehicle and an error of the second position based on radio waves transmitted from artificial satellites, set position information of the vehicle preferentially using one position with a smaller error of the first position and the second position, and create a map of places in which the vehicle has traveled based on the set position information of the vehicle and the image.