A waveform estimation device includes: tracking filter processing units 11 and 12 that execute tracking filter processing on observation values using tracking filters having different drive noises; and a filter output selection unit 14 that selects a regular waveform component predicted by the tracking filter processing unit 11, in an irregular section, and selects a regular waveform component predicted by the tracking filter processing unit 12, in a regular section. A residual processing unit 16 calculates a residual between observation values extracted by an observation value extraction unit 1, and a regular waveform component selected by the filter output selection unit 14. An irregular waveform detection unit 17 determines whether the residual is an irregular waveform component.