An arrival time estimation device includes an image input unit configured to input an image signal to each frame, an object detecting unit configured to detect an object indicated by the image signal input through the image input unit, and an arrival time calculating unit configured to calculate a rotation matrix indicating rotation of an optical axis of an imaging device that captures the image signal based on a direction vector indicating a direction to the object detected by the object detecting unit, to calculate a change in a distance to the object based on a vector obtained by multiplying a past direction vector by the calculated rotation matrix and a current direction vector, and to calculate an arrival time to the object based on the calculated distance change.
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