OBJECT POSITION ESTIMATION DEVICE

PROBLEM TO BE SOLVED: To provide an object position estimation device capable of calculating a position of an object in a three-dimensional space.SOLUTION: An object position estimation device 1 comprises: image acquisition means 101 that acquires an image in one direction; object recognition means that recognises the object; attitude variation detection means 103 that detects variation of postures of a vehicle; first correction means that corrects a position of the object on a longitudinal axis in the image on the basis of the variation; undulation information acquisition means; second correction means that corrects the position of the object on the longitudinal axis in the image on the basis of a degree of the undulation; flat surface position calculation means that calculates, with the use of a map, the position of the object in a virtual flat surface from the position of the object on the longitudinal axis in the image after the correction by the second correction means; and three-dimensional space position calculation means that calculates the position of the object in a three-dimensional space from the position of the object in the virtual flat surface and the degree of the undulation. 【課題】対象物の３次元空間における位置を算出できる対象物位置推定装置を提供する。【解決手段】一方向の画像を取得する画像取得手段１０１と、対象物を認識する対象物認識手段と、車両の姿勢の変化量を検出する姿勢変化量検出手段１０３と、画像における対象物の縦軸上の位置を変化量に基づき補正する第１の補正手段と、起伏情報取得手段と、画像における対象物の縦軸上の位置を、起伏の程度に基づき補正する第２の補正手段と、マップを用いて、第２の補正手段による補正後の、画像における対象物の縦軸上の位置から、仮想的な平坦面上での対象物の位置を算出する平坦面上位置算出手段と、仮想的な平坦面上での対象物の位置と、起伏の程度とから、対象物の３次元空間における位置を算出する３次元空間位置算出手段とを備えることを特徴とする対象物位置推定装置１。【選択図】図１