A camera parameter estimation apparatus: takes three sets of three-dimensional coordinates pertaining to an object and two-dimensional coordinates corresponding to the three-dimensional coordinates, and transforms a coordinate system of the three-dimensional coordinates from a world coordinate system to a local coordinate system; calculates a linear transformation matrix based on a projection transformation expression from the transformed three-dimensional coordinates to the two-dimensional coordinates, calculates a coefficient of a quartic equation pertaining to any one of depths from a camera center to each three-dimensional coordinate, and calculates each depth; calculates the rotation matrix in the local coordinate system using each depth and the linear transformation matrix; calculates a translation vector in the local coordinate system from each depth based on the projection transformation expression; and calculates a rotation matrix and a translation vector in the world coordinate system by performing an inverse transform of the rotation matrix and the translation vector.