Plane detecting device, and plane detecting method

A plane detecting device comprising:

• a camera that captures an image data of a target having a predetermined plane;
• and
• a processor that processes the image data;
• wherein the processor is configured to function as:
• an information acquisition unit that acquires visible image information and 3D coordinate information corresponding to the visible image information from the image data;
• a likelihood acquisition unit that acquires likelihoods indicating a planarity of the predetermined plane of the target from the visible image information;
• a plane detector that detects the predetermined plane of the target through a robust estimation method by using the 3D coordinate information and the likelihoods;
• and
• a storage that stores a machine learning model constructed by machine learning,
• wherein the likelihood acquisition unit acquires the likelihoods for each pixel from the visible image information by using the visible image information as input information and the machine learning model.