| 摘要 |
A moving amount estimating apparatus includes a position data obtaining unit, a first estimating unit, and a second estimating unit. The position data obtaining unit obtains a plurality of position data forming a projection object image before and after movement of a mobile body. The first estimating unit calculates a moving amount of a parallel movement and/or a moving amount of a rotational movement of second position data as a moving amount of a mobile body when a plurality of moving position data is calculated such that a first projection object image to be formed by a plurality of first position data matches with a moving projection object image. A second estimating unit compensates a wheel moving amount based on comparison between a second reference moving amount based on a rotating amount of a wheel during a predetermined period and a first reference moving amount obtained by calculating the moving amount of the mobile body in the first estimating unit during the predetermined period, and estimates the moving amount of the mobile body. |
