Imaging system, driving assistance system, and program

A driving assistance system comprising:

• a step of driving a vehicle incorporating an imaging device;
• a step of capturing a monochrome image of a front of the vehicle during driving by the imaging device;
• a step of performing inference of a region of at least a sky, a car, and a road by performing segmentation processing on a monochrome image including the distant region;
• a step of performing inference of a specific distant region by performing depth estimation processing on the monochrome image including the distant region;
• a step of determining a center of a portion cut off from the monochrome image on the basis of the segmentation processing and the depth estimation processing;
• a step of extracting a rectangular region in which a center is a central portion, inputting extracted data, and performing super-resolution processing;
• a step of inputting an output result of the super-resolution processing and performing colorization processing for highlighting of an object included in the distant region with high accuracy;
• and
• a step of performing enlargement of the distant region subjected to colorization processing.