Image processing apparatus transforms an input image from a first camera
by using a parameter of affine transformation based on a position of a
second camera. The first camera and the second camera are loaded onto a
vehicle respectively and input an image of a road plane in time series. A
status prediction unit predicts a temporary status information of the
vehicle of timing (t) by using a status information of the vehicle of
timing (t-1). A parallel moving vector estimation unit estimates a
parallel moving vector of timing (t) included in the parameter of affine
transformation by using an input image of timing (t) from the first
camera, an input image of timing (t) from the second camera, and the
temporary status information. A status estimation unit estimates a status
information of the vehicle of timing (t) by using the parallel moving
vector and the temporary status information.