This movement assistance system is provided with: a target image detection unit which receives a captured image acquired by an image capturing unit fixed to a movable body and detects an image of a capture target included in the captured image and the position of the detected image of the capture target in the captured image； a position storage unit for storing the position of the image of the capture target, which has been detected by the target image detection unit, in the captured image； a target position change estimation unit which receives captured images and detects a change in the captured images to estimate a change in the position of the capture target with reference to the captured image； and a target position estimation unit for estimating the position of the capture target with reference to the captured image and outputting a result of the position estimation when it is indicated that a disappearance state, which is a state in which the target image detection unit no longer detects the image of the capture target from the captured image, has occurred, said estimation of the position of the capture target being carried out on the basis of information on the position stored in the position storage unit and the result of estimation of the change in the position of the capture target obtained by the target position change estimation unit.L'invention concerne un système d'aide au déplacement comprenant : une unité de détection d'image cible qui reçoit une image capturée acquise par une unité de capture d'image fixée à un corps mobile et qui détecte une image d'une cible de capture comprise dans l'image capturée et la position de l'image détectée de la cible de capture dans l'image capturée ； une unité de mémorisation de position permettant de mémoriser la position de l'image de la cible de capture, détectée par l'unité de détection d'image cible, dans l'image capturée ； une unité d'estimation de changement de position de cible qui reçoit des images capturées
