MOVEMENT AMOUNT ESTIMATION DEVICE AND MOVEMENT AMOUNT ESTIMATION METHOD

摘要

PROBLEM TO BE SOLVED: To accurately estimate the movement amount of a mobile body even when a relative position relation between images at two time imaged from a mobile object is not determined from a road surface pattern.SOLUTION: A road surface image generation part 611 generates a first road surface image from an image at a first time imaged by an imaging device loaded on a mobile body, and generates a second road surface image from an image at a second time after the first time. A storage part 612 stores the first road surface image and the second road surface image. A moving direction estimation part 613 calculates direction information dependent on the moving direction of the mobile object between the first time and the second time from the turning amount of the mobile object between the first time and the second time. A movement amount estimation part 614 calculates a relative position relation between the first road surface image and the second road surface image by using the turning amount and the direction information, and calculates the movement amount of the mobile object between the first time and the second time on the basis of the relative position relation.