Abstract: To detect a marker at high speed. A marker detection device includes a storage configured to store, as a registered descriptor, a feature descriptor generated from an image in which a marker is captured, the marker including a plurality of colors arranged in one direction; an image acquisition unit configured to acquire a one-dimensional image; a feature point detection unit configured to detect a feature point from the one-dimensional image; a feature description unit configured to generate, as an observation descriptor, the feature descriptor that represents a luminance change of a region including the feature point; and a marker determination unit configured to determine whether the marker is included in the one-dimensional image, based on a matching result between the registered descriptor and the observation descriptor.