Patent Document ID: 9208387
Application ID: 14053920
Patent Status: 1

Claim One:
1. An image processing device, comprising: a memory; and a processor coupled to the memory, configured to: extract an edge where positions overlap with each other, by comparing a first edge image extracted from an image captured for a first time and a second edge image extracted from an image captured for a second time after the first time, the image for the first time and the image for the second time being captured from a movable body, remove the extracted edge from at least one of the first edge image and the second edge image, perform matching processing on the first edge image and the second edge image in both or one of which the extracted edge has been removed, obtain a displacement amount between the first edge image and the second edge image which are subjected to the matching processing by using the first edge image extracted from the projected image generated from the image captured for the first time, and the second edge image extracted from the projected image generated from the image captured for the second time, estimate a movement amount of the movable body, by using the displacement amount between the first edge image and the second edge image which are subjected to the matching processing, and generate a projected image displaying an image onto which a lower surface side that includes the movable body is projected from above, from an image captured from the movable body.