A measurement device is configured to calculate, based on second measurement data provided by a distance detector, second contour data indicating a surface contour of an object contained in the container at a second time after a first time; calculate differential information indicating a difference between first posture data and second posture data which is posture data provided by a posture detector at the second time; rotate, based on the differential information, the second contour data in a three-dimensional coordinate space of the distance detector; and specify a region defined by the rotated second contour data and the first contour data, and calculate, based on the specified region, a volume of the object contained in the container at the second time.