1. An articulated object position and posture estimation device comprising: a storage section configured to store data concerning to a posture model with low-dimensional parameters under movement restraint, wherein said low-dimensional parameters are obtained by performing principal component analysis on time-series postures of an articulated object frame model corresponding to a predetermined limited movement; and a position and posture estimation device configured to generate an image of each posture of said articulated object frame model within postures which can be taken by said posture model and to perform a matching with an estimation target articulated object image to estimate a posture.