Locus estimation device, locus estimation method and program

A device accepts a measured value of a wheel speed of right and left front wheels of a moving object, and a measured value of a steering angle at which the traveling direction of the moving object is changed. Based on a measured value of a wheel speed of the right and left front wheels, a measured value of a steering angle, a distance in the direction of the body of the moving object, a distance in the direction of the axle of the moving object, and a constant, the device performs estimation. The device estimates an amount of rotation of the middle point of a rotation center of the right and left rear wheels on a circle having a center which is a point on a straight line passing through the rotation center of the right and left rear wheels, and an amount of translation of the middle point.