| 摘要 |
A traveling road surface detection device (1) includes: a traveling road surface determination unit (12) that determines whether image areas into which the captured image is divided are each the traveling road surface based on the disparity information; and a traveling road surface interpolation unit (14) that interpolates a first image area into a detected traveling road surface based on brightness information, the first image area among image areas determined as not the traveling road surface, wherein each of the image areas is configured by a plurality of pixel ranges, and the number of first pixel ranges each adjacent to a pixel range having a brightness different at most by a first threshold from that of an adjacent first pixel range is equal to or larger than a second threshold, or a ratio of the first pixel ranges is equal to or larger than a third threshold, in the first image range. |
