A pedestrian terminal includes: a camera for producing a pedestrian's underfoot images and surrounding view images; a memory for storing ground information including position data and a ground image of each preset record point, and fixture information including feature data and position data of a fixture in a surrounding view image at each record point; and a processor for performing provisional positioning of the pedestrian based on feature data matching between stored feature data of a fixture and that of an object in a captured surrounding view image, to thereby extract ground images of nearby record points as candidates, comparing a candidate with a captured underfoot image for matching, and when a matching ground image to the underfoot image is found, acquires position data of the corresponding record point as the pedestrian's position data.