Movement amount estimation device

A movement amount estimation device comprising:

• an external movement amount acquisition unit configured to acquire an external movement amount as a movement amount of a moving body using external information related to an object located outside the moving body and detected by an external sensor provided in the moving body;
• an internal movement amount acquisition unit configured to acquire an internal movement amount as the movement amount of the moving body using internal information related to a movement of the moving body and detected by an internal sensor provided in the moving body;
• and
• a movement amount estimation unit configured to estimate the movement amount of the moving body using at least one of the external movement amount and the internal movement amount, wherein
• the movement amount estimation unit is further configured to
• acquire a difference between the external movement amount and the internal movement amount, and
• determine whether to use the external movement amount or the internal movement amount to estimate the movement amount of the moving body depending on whether the difference between the external movement amount and the internal movement amount is equal to or less than a threshold value.