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AGVs (Automated Guided Vehicles) are widely used in factories and warehouses. Functions such as position estimation are indispensable for unmanned transport robots. We have developed a new method to estimate the position of an object using a cross laser and a camera. In this study, we verified the measurement accuracy by constructing the estimation principle and implementing the system. The results of position estimation at arbitrary measurement points showed that the measurement error was small, averaging 26 mm and maximum 49 mm, confirming that our system can estimate the position accurately.