1. An image processing device, comprising: a memory; and a processor coupled to the memory, configured to: extract an edge where positions overlap with each other, by comparing a first edge image extracted from an image captured for a first time and a second edge image extracted from an image captured for a second time after the first time, the image for the first time and the image for the second first time being captured from a movable body, remove the extracted edge from at least one of the first edge image and the second edge image, perform matching processing on the first edge image and the second edge image in both or one of which the extracted edge has been removed, and estimate a movement amount of the movable body, by using a displacement amount between the first edge image and the second edge image which are subjected to the matching processing.