Remote control device

A remote control device comprising:

• a point cloud data acquisition unit that acquires three-dimensional point cloud data measured using a distance measuring device;
• a position estimation unit that estimates at least one of a position and an orientation of a moving object in the three-dimensional point cloud data by matching a template point cloud indicating the moving object with the three-dimensional point cloud data;
• a start position determination unit that determines a start position to start matching of the template point cloud with the three-dimensional point cloud data by the position estimation unit;
• and
• a remote control unit that generates a control command for remotely controlling the moving object using at least one of the estimated position and the estimated orientation of the moving object and transmits the control command to the moving object, wherein
• the start position determination unit determines the start position using information on a drive history of an actuator provided in the moving object, out of information on a position used for the matching and information included in the control command, and using information on at least one of the position and the orientation of the moving object used to generate the control command, and of a target route predetermined as a traveling route of the moving object by the remotely controlling.