Movement detection device and communication apparatus

A movement detection device to detect a position/posture of an object itself which is equipped with a self-sustaining movement detection section that does not require any other reference device, the movement detection comprising:

• an image pickup section fixed to the self-sustaining movement detection section, which projects an image from around the object to continuously pick up the projected image;
• an image conversion section which converts the projected image picked up by the image pickup section into a cylindrical panorama image;
• an image recognition section which compares and recognizes two cylindrical panorama images converted at different times by the image conversion section;
• a camera posture estimation section which estimates position/posture information of the object based on a recognition result of the image recognition section;
• and
• a space sensor posture estimation section which estimates the position/posture of the object in a space based on a detection result of the self-sustaining movement detection section and an estimation result of the camera posture estimation section,
• wherein the image conversion section converts the image into a gravity correction panorama image in consideration of a direction of a vector of a gravity axis direction and a rotation angle around a gravity axis, detected by the self-sustaining movement detection section, when converting the image picked up by the image pickup section into the cylindrical panorama image.