MOVEMENT AMOUNT ESTIMATION DEVICE, MOVEMENT AMOUNT ESTIMATION METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To accurately estimate a movement amount even when a shadow of a mobile body is present in an image.SOLUTION: In a first edge image generated from a first image picked up by an imaging device mounted on a mobile body, an edge removal unit generates a first edge removal image by removing a first removal objet edge on the basis of a change in brightness shown by edge intensity in a direction from the inside to the outside of the mobile body. In a second edge image generated from a second image picked up at a time different from that of the first image, the edge removal unit generates a second edge removal image by removing a second removal object edge on the basis of the change in brightness shown by the edge intensity in the direction from the inside to the outside of the mobile body. An output unit outputs an estimated movement amount of the mobile body on the basis of the first edge removal image and the second edge removal image.