ANGULAR VELOCITY ESTIMATION APPARATUS, COMPUTER PROGRAM, AND ANGULAR VELOCITY ESTIMATION METHOD

摘要

An angular velocity estimation apparatus of the invention is provided to estimate the angular velocity of a moving object with good accuracy. A peripheral object observation device (radar) 811 repeatedly observes a relative position of an object relative to the moving object, located in the vicinity of the moving object. A relative position acquisition unit 211 obtains a result of the observation by the peripheral object observation device 811. A stationary object determination unit (stationary object identification unit) 220 determines whether or not the object the relative position of which have been observed by the peripheral object observation device 811 is still. An object correlation unit (stationary object tracking unit) 230 determines a plurality of the relative positions of an identical object observed by the peripheral object observation device 811, from among the relative positions observed by the peripheral object observation device 811. An angular velocity estimation unit (state estimation unit 240, trajectory estimation unit) estimates the angular velocity of the moving object.