Information processing device, information processing method, and computer readable medium for determining attachment state of in-vehicle camera

Abstract

An information processing device includes a controller configured to execute a posture estimation processing by extracting a pair group of line segments based on an optical flow of a feature point on a road surface from a processing target region set in a camera image captured by an in-vehicle camera and by estimating a posture of the in-vehicle camera based on an angle estimation value at which the in-vehicle camera is attached, the angle estimation value being estimated from each pair data included in the pair group. The controller is configured to determine that an attachment state of the in-vehicle camera is abnormal in response to at least one of a data accumulation number of the pair data, a standard deviation of the angle estimation value, or a deviation amount from a given calibration value relating to the posture in the posture estimation processing being out of a preset range.