Abstract: In order to determine whether bumps and depressions are present on the ground in a target image, the present invention: acquires a V-disparity map on the basis of a target image acquired by means of an image sensor; detects, in the V-disparity map, at least one component indicating information about the ground in the target image; determines a polynomial in a coordinate system in the V-disparity map for the component; determines a straight line passing through two different inflection points on a curve, which corresponds to the polynomial, in the coordinate system in the V-disparity map; determines a target point on the curve, the target point having a tangential slope identical to the slope of the straight line; calculates the distance between the straight line and the target point; and determines, on the basis of the distance, whether the ground includes bumps and depressions.