A point group including a small number of points that have been assigned labels is taken as an input to assign labels to points that have not been assigned labels.
In a label estimation apparatus for estimating a label to be assigned to a point that has not been labeled using a label of a point that has been labeled among points included in a point group, a confidence derivation unit 103 takes a point that has not been labeled within a point group including a point that has been labeled and the point that has not been labeled as a target point and estimates a class of the target point and a likelihood indicating a confidence of an estimation result of the class from a set of points included in the point group, a priority derivation unit 104 obtains a distance between the target point and a point that has been assigned the same label as a label corresponding to the estimated class as a priority used to determine whether the estimated class is appropriate, and a label determination unit 105 determines whether the estimated class is appropriate using at least an index based on the distance.