Abstract: A mobile object detection unit (113) extracts a point cloud representing a mobile object present around a mobile entity from point cloud data obtained by LiDAR which performs measurements in surroundings of the mobile entity. A mobile object tracking unit (116) extracts, from the point cloud data, a point cloud in a range of a posterior distribution for a tracked object, the tracked object being a mobile object that is being tracked, and performs matching of the extracted point cloud against the point cloud of the mobile object.

Abstract: A data acquisition unit (110) acquires a sensor data group from a sensor group (200) including a plurality of sensors of different types. An object detection unit (120) calculates a position information group of an object existing in an area surrounding the sensor group based on the acquired sensor data group. An environment determination unit (130) determines an environment of the area surrounding the sensor group based on at least one piece of sensor data in the acquired sensor data group. A normal range decision unit (140) decides a normal range for the calculated position information group based on the determined environment. A state determination unit (150) determines a state of the sensor group based on the calculated position information group and the decided normal range.