ERROR ESTIMATION DEVICE, ERROR ESTIMATION METHOD, AND ERROR ESTIMATION PROGRAM

An error estimation device includes an error prediction unit and a determination unit. The error prediction unit is configured to predict a bias error occurring in an inertial sensor mounted in a vehicle. The determination unit is configured to determine whether the bias error needs to be repredicted by the error prediction unit based on a reflection distance image acquired by an optical sensor in a rolling shutter mode and an outside light image acquired by an external camera in a global shutter mode.