MOVEMENT SURFACE RECOGNITION DEVICE, MOVEMENT SURFACE RECOGNITION METHOD, AND MOVEMENT SURFACE RECOGNITION PROGRAM

摘要

PROBLEM TO BE SOLVED: To accurately recognize a movement surface image area displaying a movement surface on which a moving body moves.SOLUTION: When a parallax value is calculated from a plurality of photographed images photographed by imaging units 110A and 110B, and a road surface area (movement surface image area) is recognized on the basis of the calculation result, a difference polarization degree image having a pixel value according to the difference polarization degree calculated on the basis of a plurality of polarization components (p-polarization component and s-polarization component) having different polarization directions from each other is generated from the photographed images photographed by the imaging units, and the difference polarization degree image is used as a reference image and a comparison image for calculating a parallax value.