A camera parameter estimator (400, 1200), comprising: a camera position acquisition unit (403) that obtains an estimated position and location of a camera (15) based on a captured image obtained by the camera, a first vector calculation unit (405) that generates a first vector corresponding to one Direction of travel of the vehicle, a second vector calculation unit (407) that calculates a second vector corresponding to a normal direction of a plane corresponding to a road surface on which the vehicle is traveling, a third vector calculation unit (408) that calculates a third vector orthogonal to the first and second vectors, and a camera parameter estimation unit (409) that estimates an actual installation location of the camera based on the first, second, and third vectors and the estimated location of the camera when the estimated position moves along a direction indicated by the first vector currently.
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