An on-vehicle processing device, comprising: a storage unit that stores first point group data including a plurality of coordinates of points of a part of an object in a first coordinate system; a sensor input unit (I/F 125) that acquires from a sensor that detects peripheral information expressing an image of the object around a vehicle or a distance to the object, the peripheral information; a movement information acquisition unit that acquires movement information expressing a movement quantity and a movement direction of the vehicle; a local peripheral information creation unit that generates local peripheral information expressing second point group data including a position of the vehicle in a second coordinate system and a plurality of coordinates of points of a part of the object in the second coordinate system on the basis of the peripheral information and the movement information; and a position estimation unit that estimates a correlation between the first coordinate system and the second coordinate system on the basis of the first point group data and the local peripheral information, and estimates the position of the vehicle in the first coordinate system from the position of the vehicle in the second coordinate system and the correlation, characterized in that the position estimation unit searches the first point group data for a point corresponding to each point of the second point group data expressed by the local peripheral information, and estimates a coordinate transformation formula expressing the correlation between the first coordinate system and the second coordinate system so that a distance between the corresponding points is minimized. a storage unit that stores first point group data including a plurality of coordinates of points of a part of an object in a first coordinate system; a sensor input unit (I/F 125) that acquires from a sensor that detects peripheral information expressing an image of the object around a vehicle or a distance to the object, the peripheral information; a movement information acquisition unit that acquires movement information expressing a movement quantity and a movement direction of the vehicle; a local peripheral information creation unit that generates local peripheral information expressing second point group data including a position of the vehicle in a second coordinate system and a plurality of coordinates of points of a part of the object in the second coordinate system on the basis of the peripheral information and the movement information; and a position estimation unit that estimates a correlation between the first coordinate system and the second coordinate system on the basis of the first point group data and the local peripheral information, and estimates the position of the vehicle in the first coordinate system from the position of the vehicle in the second coordinate system and the correlation, characterized in that the position estimation unit searches the first point group data for a point corresponding to each point of the second point group data expressed by the local peripheral information, and estimates a coordinate transformation formula expressing the correlation between the first coordinate system and the second coordinate system so that a distance between the corresponding points is minimized.