An object position estimating apparatus which estimates positions of M objects in real space (M being an integer not less than 2), including: a characteristic vector generating unit operable to generate, for each of M objects, a characteristic vector, the characteristic vector including as its components measurements of the object measured on N scales (N being an integer not less than 3), each of N scales measuring closeness to each of N reference points in the real space; a dissimilarity matrix deriving unit operable to calculate a norm between the characteristic vectors of two objects for every pair from among M objects and to derive a dissimilarity matrix with M rows and M columns, the dissimilarity matrix including as its elements the calculated norms; and an estimation unit operable to estimate positions of M objects in the real space based on the dissimilarity matrix and to output an estimation result.