阅读说明：本技术 形状推断装置、形状推断方法、程序以及记录介质 (Shape estimation device, shape estimation method, program, and recording medium ) 是由 顾磊 沈思杰 于 2019-12-05 设计创作，主要内容包括：一种在推断地面三维形状时可以提高实时性的形状推断装置。处理部生成具有多个格点的栅格；获取摄像装置所拍摄的第一摄像图像及第二摄像图像；假定多个格点中第一格点的多个高度；就假定的多个高度,根据摄像装置的三维位置及摄像装置的摄像方向,导出第一格点投影于第一摄像图像的第一假定投影位置和第一格点投影于第二摄像图像的第二假定投影位置；就假定的多个高度,导出第一假定投影位置和第二假定投影位置的相似度；根据相似度,推断第一格点的高度；根据第一格点的高度,推断摄像范围的三维形状。(A shape estimation device capable of improving real-time performance when estimating a three-dimensional shape of a ground surface. The processing unit generates a grid having a plurality of grid points; acquiring a first camera image and a second camera image shot by a camera device; assuming a plurality of heights of a first grid point in the plurality of grid points; deriving a first assumed projection position where the first grid point is projected on the first captured image and a second assumed projection position where the first grid point is projected on the second captured image, based on the three-dimensional position of the imaging device and the imaging direction of the imaging device, for the assumed plurality of heights; deriving a similarity of the first and second assumed projection positions for the assumed plurality of heights; deducing the height of the first lattice point according to the similarity; a three-dimensional shape of the imaging range is estimated from the height of the first grid point.)