PROBLEM TO BE SOLVED: To provide a tracking processing device and a tracking processing method which are capable of surely and easily detecting a tracking object from a plurality of targets.SOLUTION: A tracking processing device 3 includes an echo detection unit 10 and an associating unit 14. The echo detection unit 10 detects feature information including information of representative points about a plurality of targets. A likelihood calculation part 22 of the associating unit 14 calculates likelihood corresponding to a representative point of a tracking target respectively for at least a part of the plurality of representative points. A likelihood comparison part 23 of the associating unit 14 specifies the tracking target from among the plurality of targets on the basis of the calculated likelihood.
