A polyline drawing device includes processing circuitry to extract a target point cloud for drawing a polyline from point cloud data, to perform processes including: setting a local region in the point cloud; obtaining a point being located in a center of mass of points of a point cloud in the local region as a representative point; removing points other than the representative point included in the local region for which the point being located in the center of mass is obtained; setting a circular region whose center is the representative point to a next local region; and obtaining a point being located in a center of mass of points of a point cloud in the next local region as a next representative point; and to draw a polyline by connecting all representative points in turn.
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