Velocity estimator, velocity estimation method, and velocity estimation program

摘要

To provide a velocity estimation device, a velocity estimation method, and a velocity estimation program capable of estimating a velocity of a vehicle or the like moving in a traveling direction of a road on the basis of image information including the road.SOLUTION: A velocity estimation device according to the present invention comprises: a feature point extraction unit that extracts a plurality of first feature points from first image information and extracts a plurality of second feature points from second image information; a vector calculation unit that calculates a plurality of movement vectors, each having the plurality of first feature points as start points and the plurality of second feature points corresponding to each of the plurality of first feature points as end points; a velocity calculating unit for extracting a specific movement vector among the plurality of movement vectors, whose start point or end point is included in area information and whose direction is included in angle range information and for calculating a velocity of the vehicle traveling on a road area on the basis of the specific movement vector; and an output unit that outputs the calculated velocity.SELECTED DRAWING: Figure 4