To provide a boundary estimating device, a boundary estimating method, and a boundary estimating program for improving creation efficiency of a three-dimensional road map.SOLUTION: A boundary estimating device 1 (hereinafter referred to as the device 1) divides a surface of a target road and sets a plurality of local feature regions. The device 1 determines whether a lane boundary line is arranged on the basis of attached information attached to data of coordinate points included in a local feature region. The device 1 sets, for each of sets of local feature regions in one column along a column direction, a set of effective local regions in which effective local regions determined to have lane boundary lines arranged in the column direction are continuously arranged as one column level cluster. The device 1 combines adjacent column level clusters and sets a set of sequentially arranged column level clusters as one row level cluster, when it is determined that a cluster coupling condition indicating that mutually adjacent column level clusters can be combined as a single lane boundary is established.SELECTED DRAWING: Figure 1
展开▼
