A crosswalk marking estimating device includes: circuitry configured to: create a planar-view road surface image of a road around a vehicle; acquire end candidates which are candidates for ends of the bands, included in a crosswalk marking, in the planar-view road surface image based on the planar-view road surface image and a template image which is stored in advance; select a plurality of selected end candidates which is a set of the end candidates corresponding to an edge on the one side, in the road extending direction, of the crosswalk marking from a distribution of the end candidates in the road extending direction in the planar-view road surface image; and estimate a position of the edge of the crosswalk marking relative to the vehicle based on the selected end candidates.