Peripheral image generation device, peripheral image generation method, and program

The invention provides a peripheral image generation device, a peripheral image generation method, and a program. A peripheral image generation device (1) is provided with: an image input unit (10) for inputting peripheral image data captured by a plurality of cameras (20); an image synthesis unit (12) that synthesizes the peripheral image data to generate a synthesized image observed from a predetermined viewpoint; a three-dimensional shape estimation unit (13) that estimates the three-dimensional shape of an object located in the periphery on the basis of the peripheral image data; an occlusion region estimation unit (14) that estimates an occlusion region that cannot be observed from a predetermined viewpoint in the composite video using the estimation result of the three-dimensional shape; an estimation unit (15) that estimates an image of the occlusion region using deep learning; and a video superimposition unit (16) that superimposes the video estimated by the estimation unit (15) on the occlusion regio