An image acquisition unit (110) acquires an image of an area around a mobile object as image data (31). A point cloud acquisition unit (120) acquires depth point cloud data (32) representing a depth, which is a distance to an object existing in the area around the mobile object, by a point cloud. A generation unit (140) calculates a depth to a position represented by a pixel included in the image data (31), using the image data (31) and the depth point cloud data (32), and generates high-resolution point cloud data (35) in which the calculated depth is added to the pixel included in the image data (31). An estimation unit (150) estimates a movement amount of the mobile object, using the high-resolution point cloud data (35).