1. An object position estimating apparatus which estimates positions of M objects in real space, the M being an integer greater than or equal to 2, comprising: a characteristic vector generating unit operable to generate, for each of the M objects, a characteristic vector, the characteristic vector including as its components measurements of the object measured on N scales, the N being an integer greater than or equal to 3, each of the N scales measuring closeness to each of N reference points in the real space; a dissimilarity matrix deriving unit operable to calculate a norm between the characteristic vectors of two objects for every pair from among the M objects and to derive a dissimilarity matrix with M rows and M columns, the dissimilarity matrix including as its elements the calculated norms; and an estimation unit operable to estimate positions of the M objects in the real space on the basis of the dissimilarity matrix and to output a position estimation result.