Road surface detection device and road surface detection program

Abstract

A road surface detection device according to an embodiment includes an image acquisition unit that acquires captured image data output from a stereo camera that captures an imaging area including a road surface on which a vehicle travels, a three-dimensional model generation unit that generates a three-dimensional model of the imaging area including a surface shape of the road surface from a viewpoint of the stereo camera based on the captured image data, and a correction unit that estimates a plane from the three-dimensional model, and corrects the three-dimensional model so as to match an orientation of a normal vector of the plane and a height position of the plane with respect to the stereo camera with a correct value of an orientation of a normal vector of the road surface and a correct value of a height position of the road surface with respect to the stereo camera, respectively.

Dependencies are inferred from the claim text.