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

摘要

A movement-amount-estimation device includes an edge-removal unit to generate a first edge-removed image by removing from a first edge-image a first-removal-target edge by on a change in brightness indicated by edge intensity in a direction from an inner side to an outer side of a mobile body, the first edge-image being generated from a first image taken by an imaging device mounted on the mobile body, and to generate a second-edge-removed image by removing from a second edge-image a second-removal-target edge by the change in brightness indicated by the edge intensity in the direction from the inner side to the outer side, the second edge-image being generated from a second image taken at a different clock time than the first image; and an output unit configured to output a movement amount of the mobile body that is estimated based on the first edge-removed image and the second edge-removed image.