| 摘要 |
An image processing device, includes: an extraction unit configured to extract an edge where positions overlap with each other, by comparing a first edge image extracted from an image captured for a first time and a second edge image extracted from an image captured for a second time after the first time, the image for the first time and the image for the second first time being captured from a movable body; a removal unit configured to remove the extracted edge from at least one of the first edge image and the second edge image; a matching unit configured to perform matching processing on the first edge image and the second edge image in both or one of which the extracted edge has been removed; and an estimation unit configured to estimate a movement amount of the movable body, by using a displacement amount between the first edge image and the second edge image which are subjected to the matching processing. |
