BUOYANCY DETECTION DEVICE, BUOYANCY DETECTION METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a buoyancy detection device, a buoyancy detection method, and a program, which are capable of detecting buoyancy on a road surface of a road from an image of the camera mounted on a vehicle.SOLUTION: The buoyancy detection device includes: a histogram generation part 11 for generating a histogram in a processing object region from an image of a road; an initial value calculation part 12 for dividing the histogram by a specified number so that an area of each portion becomes the same and calculating a luminance of the center of each portion as respective initial values; a normal distribution estimation part 13 for estimating a normal distribution using an initial value for each portion; a feature amount calculation part 14 for selecting the normal distribution that agrees with a setting condition among the estimated normal distributions, and generating a new normal distribution using the selected normal distribution, and calculating one or both of an average value and dispersion of the new normal distribution as a feature amount; and a road surface situation estimation part 15 for determining whether or not the buoyancy is generated on the road surface of the road on the basis of the feature amount.