A guide information display device, comprising: a data acquisition section including a camera and a laser scanner, the camera being configured to capture a part of a work area of a crane, the laser scanner being configured to acquire point cloud data from above a suspended load in the work area; and a data processing section that is configured to estimate a top surface of the suspended load, a ground surface of the work area, and a top surface of a ground object in the work area based on the point cloud data acquired by the laser scanner, calculate elevation values of point data which is a height from a reference height defined as the height of the ground surface, generate a guide frame image of a guide frame surrounding the top surface of the suspended load and a guide frame surrounding the top surface of the ground object and an elevation value image of elevation values of the suspended load and the ground object, calculate a distance between the suspended load and the ground object based on the estimated top surface of the suspended load and the ground object, wherein the distance comprises the difference in elevation value between the suspended load and the ground object, such that the elevation value of the suspended load is an elevation value of the underside of suspended load and the elevation value of the ground object is an elevation value of the top surface of the ground object, and output warning display in a case where the distance is equal to or smaller than a threshold value; and a data display section that is configured to display guide information generated by superimposing the guide frame image, the elevation value image and the warning display that are generated by the data processing section and the image captured by the camera with one another. a data acquisition section including a camera and a laser scanner, the camera being configured to capture a part of a work area of a crane, the laser scanner being configured to acquire point cloud data from above a suspended load in the work area; and a data processing section that is configured to estimate a top surface of the suspended load, a ground surface of the work area, and a top surface of a ground object in the work area based on the point cloud data acquired by the laser scanner, calculate elevation values of point data which is a height from a reference height defined as the height of the ground surface, generate a guide frame image of a guide frame surrounding the top surface of the suspended load and a guide frame surrounding the top surface of the ground object and an elevation value image of elevation values of the suspended load and the ground object, calculate a distance between the suspended load and the ground object based on the estimated top surface of the suspended load and the ground object, wherein the distance comprises the difference in elevation value between the suspended load and the ground object, such that the elevation value of the suspended load is an elevation value of the underside of suspended load and the elevation value of the ground object is an elevation value of the top surface of the ground object, and output warning display in a case where the distance is equal to or smaller than a threshold value; and a data display section that is configured to display guide information generated by superimposing the guide frame image, the elevation value image and the warning display that are generated by the data processing section and the image captured by the camera with one another.