1. A method for estimating ego motion of an object moving on a surface, the method comprising: (a) generating, by a generation unit of an apparatus onboard the object, at least two composite top view images of the surface on the basis of video frames provided by at least one onboard video camera of said object moving on said surface; (b) performing, by a region matching unit of the apparatus onboard the object, a region matching between consecutive top view images to extract global motion parameters of said moving object; (c) calculating, by a calculation unit of the apparatus onboard the object, the ego motion of said moving object from the extracted global motion parameters of said moving object.