A velocity measurement apparatus comprising: first and second surface profile sensors for acquiring first and second surface profile data, a memory for storing the first and second surface profile data, and a calculation unit for calculating a velocity of a moving object. Each surface profile sensors acquires the corresponding surface profile data by measuring signal levels of reflected waves corresponding to a radio wave emitted to a ground surface and then reflected from structures on the ground surface, and measuring propagation durations from the emission of the radio wave to the return of the respective reflected waves. The calculation unit compares the first and second surface profile data, determines a difference between their measurement times, and divides a distance between the first and second surface profile sensors by the difference between the measurement times to calculate the velocity of the moving object.