Provided is a position and posture estimation system including: a laser sensor that detects a distance to a pallet; a plane equation calculation unit that calculates a plane equation of a front surface of the pallet on the basis of detection data of the laser sensor; and an estimation computation unit that estimates the position and the posture of the pallet by using the plane equation of the front surface of the pallet which is calculated by the plane equation calculation unit. The estimation computation unit calculates a yaw angle, a pitch angle, and a roll angle of the pallet as the posture of the pallet.