STATE ESTIMATION DEVICE AND STATE ESTIMATION METHOD

By a state estimation device or a state estimation method, image data is read, a feature point included in the image data is extracted, the feature point is tracked, a position, a velocity, or an attitude of a mobile object is calculated based on inertia data, a bias error of an inertial measurement unit is calculated, correction data is calculated by removing the bias error from the inertia data, and a state including at least one of the position, the velocity, or the attitude of the mobile object is estimated based on the correction data.