Moving state estimating device

A moving state estimating device comprising:

• a feature point candidate extracting part configured to extract initial feature point candidates in a first image taken at a first time point by an imaging sensor mounted on a moving body;
• a positional relation obtaining part configured to obtain a positional relation of an actual position of each initial feature point candidate relative to the moving body;
• a feature point selecting part configured to select one or more of the initial feature point candidates as one or more of selected feature points based on the positional relation and such that a distance difference between an actual position of each initial feature point and the moving body is greater than or equal to a predetermined value;
• a corresponding point extracting part configured to extract a corresponding point in a second image taken by the imaging sensor at a second time point corresponding to the selected feature point;
• and
• a moving state estimating part configured to estimate a moving state of the moving body from the first time point to the second time point based on a coordinate of the selected feature point and a coordinate of the corresponding point.

A moving state estimating device comprising:

• a feature point candidate extracting part configured to extract initial feature point candidates in an first image taken at a first time point by an imaging sensor mounted on a moving body;
• a positional relation obtaining part configured to obtain a positional relation of an actual position of each initial feature point candidate relative to the moving body;
• a feature point selecting part configured to select one or more of the initial feature point candidates as one or more of selected feature points based on the positional relation and such that angles between directions of actual positions of each initial feature point as seen from the moving body are greater than or equal to a predetermined value;
• a corresponding point extracting part configured to extract a corresponding point in a second image taken by the imaging sensor at a second time point corresponding to the selected feature point;
• and
• a moving state estimating part configured to estimate a moving state of the moving body from the first time point to the second time point based on a coordinate of the selected feature point and a coordinate of the corresponding point.