SHAPE INFERRING DEVICE, SHAPE INFERRING METHOD, PROGRAM, AND RECORDING MEDIUM

摘要

A shape inferring device capable of increasing the degree of real-time when inferring the three-dimensional shape of the ground. A processing part generates a grating having multiple grating points; a first photographed image and a second photographed image photographed by a photographing device are acquired; multiple heights are assumed for a first grating point in the multiple grating points; with respect to the assumed multiple heights, a first assumed projection position of the first grating point projected on the first photographed image and a second assumed projection position of the first grating point projected on the second photographed image are arrived at on the basis of the three-dimensional position of the photographing device and of the photographing direction of the photographing device; with respect of the assumed multiple heights, the degree of similarity between the first assumed projection position and the second assumed projection position is derived; the height of the first grating point is inferred on the basis of the degree of similarity; and the three-dimensional shape of the range photographed is inferred on the basis of the height of the first grating point.