To measure the position of a walking user's toe tip, a measurement device includes: a data acquisition unit that acquires, from a depth sensor capturing an image of a walking path and outputting image data having a depth of each pixel added thereto, image data in which no user is on the path as reference data and image data in which a user is walking on the path as walking data; a specific pixel extraction unit that identifies a depth-sensor side foot based on the walking data and reference data and extracts, based on the depth, a pixel corresponding to a toe-tip among the pixels of the specified foot; and a position calculation unit that calculates three-dimensional coordinates of the extracted pixel based on the coordinates in the image data and the depth of the pixel, and takes the three-dimensional coordinates as the position of the user's toe tip.