A camera calibration device comprising: an image acquisition unit into which a plurality of images captured at different times by a camera mounted to a vehicle is input; a feature point extraction unit which extracts feature points from each of the images input into the image acquisition unit; a feature point tracking unit which tracks the feature points between the plurality of images; a vehicle movement acquisition unit which acquires information about movement of the vehicle; a trajectory estimation unit which, based on the information acquired by the vehicle movement acquisition unit, estimates a trajectory of the feature points corresponding to the movement of the vehicle; and an internal parameter estimation unit which estimates an internal parameter of the camera based on at least one trajectory of the feature points tracked by the feature point tracking unit and the trajectory of the feature points estimated by the trajectory estimation unit, wherein the internal parameter includes a lens distortion coefficient in accordance with distortion of a lens included in the camera, and wherein the internal parameter estimation unit calculates a parameter for the distortion of the lens so that a difference between a trajectory of the feature points into which the trajectory of the feature points tracked by the feature point tracking unit has been transformed with use of the lens distortion coefficient and the trajectory of the feature points estimated by the trajectory estimation unit is minimum, characterized in the camera calibration device further comprising: a trajectory approximation unit which approximates the trajectory of the feature points tracked by the feature point tracking unit with use of a polynomial; and a correspondence determination unit which, based on a difference between a coefficient of a polynomial which the trajectory approximation unit uses to approximate a first feature point trajectory and a coefficient of a polynomial which the trajectory approximation unit uses to approximate a second feature point trajectory, determines whether or not the first feature point trajectory and the second feature point trajectory correspond, wherein the internal parameter estimation unit estimates the internal parameter of the camera with use of the first feature point trajectory and the second feature point trajectory which are determined to correspond by the correspondence determination unit. an image acquisition unit into which a plurality of images captured at different times by a camera mounted to a vehicle is input; a feature point extraction unit which extracts feature points from each of the images input into the image acquisition unit; a feature point tracking unit which tracks the feature points between the plurality of images; a vehicle movement acquisition unit which acquires information about movement of the vehicle; a trajectory estimation unit which, based on the information acquired by the vehicle movement acquisition unit, estimates a trajectory of the feature points corresponding to the movement of the vehicle; and an internal parameter estimation unit which estimates an internal parameter of the camera based on at least one trajectory of the feature points tracked by the feature point tracking unit and the trajectory of the feature points estimated by the trajectory estimation unit, wherein the internal parameter includes a lens distortion coefficient in accordance with distortion of a lens included in the camera, and wherein the internal parameter estimation unit calculates a parameter for the distortion of the lens so that a difference between a trajectory of the feature points into which the trajectory of the feature points tracked by the feature point tracking unit has been transformed with use of the lens distortion coefficient and the trajectory of the feature points estimated by the trajectory estimation unit is minimum, characterized in the camera calibration device further comprising: a trajectory approximation unit which approximates the trajectory of the feature points tracked by the feature point tracking unit with use of a polynomial; and a correspondence determination unit which, based on a difference between a coefficient of a polynomial which the trajectory approximation unit uses to approximate a first feature point trajectory and a coefficient of a polynomial which the trajectory approximation unit uses to approximate a second feature point trajectory, determines whether or not the first feature point trajectory and the second feature point trajectory correspond, wherein the internal parameter estimation unit estimates the internal parameter of the camera with use of the first feature point trajectory and the second feature point trajectory which are determined to correspond by the correspondence determination unit. a trajectory approximation unit which approximates the trajectory of the feature points tracked by the feature point tracking unit with use of a polynomial; and a correspondence determination unit which, based on a difference between a coefficient of a polynomial which the trajectory approximation unit uses to approximate a first feature point trajectory and a coefficient of a polynomial which the trajectory approximation unit uses to approximate a second feature point trajectory, determines whether or not the first feature point trajectory and the second feature point trajectory correspond, wherein the internal parameter estimation unit estimates the internal parameter of the camera with use of the first feature point trajectory and the second feature point trajectory which are determined to correspond by the correspondence determination unit.