The present technology relates to a signal processing device, a signal processing method, and a program enabling estimation of a self-position and posture with high accuracy. A signal processing device receives distance measurement information between a first ultra wide band (UWB) device arranged in a predetermined space and a second UWB device provided in a mobile object through UWB communication via the second UWB device, detects a feature point based on a light source from an image obtained from an imaging unit, and performs tracking between frames, in which the light source is arranged in the predetermined space and has a lighting timing controlled by a server on the basis of a time lag between the imaging unit provided in the mobile object and the server that controls the first UWB device. The signal processing device estimates a self-position and posture on the basis of a feature point of the light source, and corrects the self-position and posture on the basis of the distance measurement information. The present technology can be applied to a self-position and posture estimation system.