OBJECT POSITION ESTIMATION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide an object position estimation device capable of calculating a position of an object in a three-dimensional space.SOLUTION: An object position estimation device 1 comprises: image acquisition means 101 that acquires an image in one direction; object recognition means that recognises the object; attitude variation detection means 103 that detects variation of postures of a vehicle; first correction means that corrects a position of the object on a longitudinal axis in the image on the basis of the variation; undulation information acquisition means; second correction means that corrects the position of the object on the longitudinal axis in the image on the basis of a degree of the undulation; flat surface position calculation means that calculates, with the use of a map, the position of the object in a virtual flat surface from the position of the object on the longitudinal axis in the image after the correction by the second correction means; and three-dimensional space position calculation means that calculates the position of the object in a three-dimensional space from the position of the object in the virtual flat surface and the degree of the undulation.