Three-dimensional space estimation system

A three-dimensional space estimation system configured to estimate a three-dimensional space represented in a two-dimensional image, the system comprising:

• a relative depth acquisition unit configured to acquire relative depth information indicating a relative depth of each pixel of the two-dimensional image which is an image obtained by projecting the three-dimensional space;
• a reference line setting unit configured to detect one or more straight lines from the two-dimensional image and set the detected straight lines as reference lines;
• a reference point setting unit configured to set a plurality of points per reference line as reference points on the reference line and set three-dimensional coordinates of each reference point in the three-dimensional space by using a first coefficient for converting the relative depth into an absolute depth in common for at least each reference point;
• a two-dimensional coordinate acquisition unit configured to acquire two-dimensional coordinates of each reference point in the two-dimensional image;
• a parameter calculation unit configured to calculate parameters of a predetermined conversion formula and the first coefficient by substituting the three-dimensional coordinates and the two-dimensional coordinates of the reference point into the predetermined conversion formula that expresses a relationship between three-dimensional coordinates in the three-dimensional space and two-dimensional coordinates in the two-dimensional image using predetermined parameters;
• and
• a three-dimensional space model generation unit configured to generate a three-dimensional space model representing the three-dimensional space by arranging pixel values of each pixel of the two-dimensional image at corresponding positions in the three-dimensional space using at least a portion of the parameters calculated by the parameter calculation unit, the first coefficient, and the relative depth of each pixel.