Space structure estimating apparatus, space structure estimating method, and space structure estimating program

摘要

PROBLEM TO BE SOLVED: To provide a space structure estimation device configured such that a single object is not divided by occlusion when each object is specified by point group information generated from depth information corresponding to a captured image.SOLUTION: A point group information generation part 1 generates point group information from depth information. A surface specifying part 2 specifies a surface and a part other than the surface from the point group information by being fitted to a model. An object specifying part 3 specifies each object by clustering a point group other than the surface. An occlusion area detection part 4 detects an area of each object existing on the side deeper than a depth information acquisition coordinate as an occlusion area. An object integration part 5 determines the objects to be the objects divided by the occlusion so as to be integrated when the objects exist on a straight line of a predetermined direction in a shape of sandwiching the occlusion area.