An estimation apparatus of the present disclosure includes a same-object point information acquiring section, a candidate estimating section, and a direction estimating section. The candidate estimating section estimates, as a candidate direction, a direction that is matched with an arbitrary horizontal direction upon determining that the relative speeds gradually decrease along the arbitrary horizontal direction. The candidate estimating section estimates, as the candidate direction, an opposite direction of the arbitrary horizontal direction upon determining that the relative speeds gradually increases along the arbitrary horizontal direction. The direction estimating section estimates a moving direction of the same object based on the candidate direction.