A calculation device includes a sensor information acquisition unit configured to acquire first sensor information acquired by a first sensor that detects a moving object classified into a first state from an outside of the moving object, and acquire second sensor information acquired by a second sensor that detects the moving object classified into a second state from the outside, and a calculation unit configured to calculate at least one of a position and an orientation of the moving object by using the first sensor information without executing preprocessing, and execute the preprocessing to calculate at least one of the position and the orientation of the moving object by using the second sensor information.