An angular velocity estimation apparatus (800; 200) comprising: a relative position acquisition unit (110; 211), for obtaining a result of an observation by a peripheral object observation device mounted on a moving object that repeatedly observes at least one object located in the vicinity of said moving object to measure relative positions of the at least one object relative to the moving object; a stationary object determination unit (110; 220), for determining a stationary object from among the at least one object observed by the peripheral object observation device, based on a plurality of results of observations obtained by the relative position acquisition unit; an object correlation unit (120; 230), for determining, as time-series data, a set of results of observations including relative positions of the stationary object, from among the plurality of results of observations obtained by the relative position acquisition unit, for each stationary object determined by the stationary object determination unit; and an angular velocity estimation unit (143; 150; 240), for estimating an angular velocity of the moving object, characterized in that the angular velocity estimation unit is counting, as a number of times of correlations, a number of results of observations included in said time-series data of each stationary object that are correlated in the temporal direction, and estimating the angular velocity of the moving object based on the time-series data in which the number of times of correlations is equal to or more than a threshold value for the number of times of correlations, from among the time-series data of the each stationary object. a relative position acquisition unit (110; 211), for obtaining a result of an observation by a peripheral object observation device mounted on a moving object that repeatedly observes at least one object located in the vicinity of said moving object to measure relative positions of the at least one object relative to the moving object; a stationary object determination unit (110; 220), for determining a stationary object from among the at least one object observed by the peripheral object observation device, based on a plurality of results of observations obtained by the relative position acquisition unit; an object correlation unit (120; 230), for determining, as time-series data, a set of results of observations including relative positions of the stationary object, from among the plurality of results of observations obtained by the relative position acquisition unit, for each stationary object determined by the stationary object determination unit; and an angular velocity estimation unit (143; 150; 240), for estimating an angular velocity of the moving object, characterized in that the angular velocity estimation unit is counting, as a number of times of correlations, a number of results of observations included in said time-series data of each stationary object that are correlated in the temporal direction, and estimating the angular velocity of the moving object based on the time-series data in which the number of times of correlations is equal to or more than a threshold value for the number of times of correlations, from among the time-series data of the each stationary object.