Camera pose estimation device, vehicle, and camera pose estimation method

摘要

A camera posture estimation device includes: a generator configured to generate overhead view image data by transforming a viewpoint of captured image data obtained by the camera, on the basis of a posture parameter indicative of the posture of the camera; a calculator configured to calculate parallelism between lines in an overhead view image indicated by the overhead view image data generated by the generator; and a posture estimator configured to estimate the posture parameter from the parallelism calculated by the calculator.