An information processing device for specifying a target point of an object at a first timing, comprising: an acquirer configured to acquire position information of detection points at the first timing and a second timing, each detection point representing a point individually observed by a distance sensor outside of the distance sensor by emitting light to the surrounding of the distance sensor and receiving reflected light, wherein the first timing and the second timing are different from each other in at least one of the timing of acquisition of the observation information by the sensor and the position of the sensor; a categorizer configured to cluster the detection points at the first timing based on their position information into one or more detection point groups each representing an object, and configured to cluster the detection points at the second timing based on their position information into one or more detection point groups each representing an object; a searcher configured to search, for each detection point group clustered at the first timing, for a corresponding detection point group clustered at the second timing, wherein each detection point group at the first timing and the corresponding detection point group at the second timing represent an identical object; a shape fitter configured to fit a predetermined shape model into each detection point group on the basis of the position information of the clustered detection points belonging to the each detection point group, wherein the shape fitter is configured to fit a shape model into each detection point group representing an object at the first timing and fit a shape model into the detection point group representing the same object at the second timing; and a specifier configured to specify, for the shape model fitted into the detection point group at the second timing, a target point of the object on the basis of the shape model, and configured to specify, as the target point of the object at the first timing, a position in the shape model fitted into the detection point group at the first timing, the position corresponding to the target point set on the basis of the shape model fitted into the detection point group at the second timing. an acquirer configured to acquire position information of detection points at the first timing and a second timing, each detection point representing a point individually observed by a distance sensor outside of the distance sensor by emitting light to the surrounding of the distance sensor and receiving reflected light, wherein the first timing and the second timing are different from each other in at least one of the timing of acquisition of the observation information by the sensor and the position of the sensor; a categorizer configured to cluster the detection points at the first timing based on their position information into one or more detection point groups each representing an object, and configured to cluster the detection points at the second timing based on their position information into one or more detection point groups each representing an object; a searcher configured to search, for each detection point group clustered at the first timing, for a corresponding detection point group clustered at the second timing, wherein each detection point group at the first timing and the corresponding detection point group at the second timing represent an identical object; a shape fitter configured to fit a predetermined shape model into each detection point group on the basis of the position information of the clustered detection points belonging to the each detection point group, wherein the shape fitter is configured to fit a shape model into each detection point group representing an object at the first timing and fit a shape model into the detection point group representing the same object at the second timing; and a specifier configured to specify, for the shape model fitted into the detection point group at the second timing, a target point of the object on the basis of the shape model, and configured to specify, as the target point of the object at the first timing, a position in the shape model fitted into the detection point group at the first timing, the position corresponding to the target point set on the basis of the shape model fitted into the detection point group at the second timing.