Vehicle roll angle estimation system, vehicle, vehicle roll angle estimation method and program

摘要

A vehicle roll angle estimation system (10) includes: an imaging device (40) capable of capturing forward or rearward images from the vehicle; and a roll angle estimation device (20) for obtaining captured images taken by the imaging device (40) and analyzing the images thereby estimating a roll angle of the imaging device (40) which changes as the vehicle is inclined. The roll angle estimation device (20) includes: a histogram generator (22) which generates a brightness gradient orientation histogram indicating frequency distribution of brightness gradient orientation of a plurality of pixels contained in the image; and an estimation section (23) which calculates a skewness indicating a symmetricalness of the brightness gradient histogram, and estimates a roll angle based on the calculated skewness.