Provided is a method for movement estimation and movement compensation of a target object that can be applied without introducing restrictions on antenna placement. The present invention provides a radar apparatus including: a radar signal transmission-reception unit acquiring a radar signal acquired by measurement using a transmission antenna and a reception antenna, and a measurement time of the radar signal; a velocity candidate control unit holding a setting of a velocity candidate set of a target object; a velocity estimation imaging unit generating a radar image applied with movement compensation by using each velocity candidate; a velocity estimation unit selecting an estimated velocity from a velocity candidate set, based on comparison of each generated radar image; and an output image imaging unit generating a final output image applied with movement compensation using an estimated velocity.