Moving amount estimating apparatus, autonomous mobile body, and moving amount estimating method

A moving amount estimating apparatus that estimates a moving amount of a mobile body including a travelling unit, the apparatus comprising:

• a position data obtaining unit that obtains a plurality of position data forming a projection object image obtained by projecting an object present around the mobile body onto a predetermined coordinate;
• an estimating unit that estimates, when a plurality of moving position data are calculated such that a first projection object image data formed by a plurality of first position data obtained one of before and after the mobile body moves during a predetermined time interval matches with a moving projection object image formed by a plurality of moving position data obtained by a movement of the mobile body during the predetermined time interval of a plurality of second position data obtained the other of before and after the movement on the predetermined coordinate, the moving amount of the mobile body during the predetermined time interval from the plurality of second position data as an estimated moving amount in which the mobile body moves during the predetermined time interval;
• and
• an evaluating unit that evaluates a data moving amount that is the moving amount of the mobile body during the predetermined time interval on the predetermined coordinate when the plurality of moving position data are calculated from the plurality of second position data based on a maximum travelling amount in which the mobile body is enabled to travel by the travelling unit during the predetermined time interval, and stores the data moving amount evaluated as the moving amount of the mobile body, wherein
• the estimating unit performs a subsequent estimation according to the stored data moving amount.