A computer-implemented method of estimating a height shape of a road surface in a road scene, as a mathematical function of the road-surface height, where height values are expressed in pixels, comprising: a step of obtaining an original disparity map of the road scene; a step of detecting a road-surface region of interest based on the original disparity map; a step of determining plural road-surface points of interest based on the road-surface region of interest; and a step of estimating the height shape of the road surface in the road scene based on the plural road-surface points of interest; wherein the step of detecting the road-surface region of interest comprises: a step of selecting an underpart disparity map from the original disparity map; a step of carrying out binary image processing with respect to the underpart disparity map so as to acquire a binary image, by comparing the disparity value at a pixel of the disparity map to a threshold and by setting the value to 0 or 1 depending on the disparity value being respectively above or below the threshold; a step of performing morphology erosion on the binary image so as to acquire a first image; a step of setting one or more seed points at a predetermined part in the first image,the predetermined part covering a part of the road surface, but not exceeding the boundaries of the road surface; a step of conducting region growing based on the one or more set seed points so as to acquire a segment, by obtaining and adding pixels in a neighboring region, that have a same or similar characteristic, to the region at which the seed points are located, and then repeating the process of adding pixels to the regions of the obtained pixels by treating them as new seed points, until no pixels may be found to serve as new seed points; and a step of letting the segment serve as the road-surface region of interest; and wherein the step of determining the plural road-surface points of interest comprises: a step of carrying out post-processing with respect to the road-surface region of interest so as to acquire a first region of interest; and a step of letting intersections of the original disparity map and the first region of interest serve as the plural road-surface points of interest. a step of obtaining an original disparity map of the road scene; a step of detecting a road-surface region of interest based on the original disparity map; a step of determining plural road-surface points of interest based on the road-surface region of interest; and a step of estimating the height shape of the road surface in the road scene based on the plural road-surface points of interest; a step of selecting an underpart disparity map from the original disparity map; a step of carrying out binary image processing with respect to the underpart disparity map so as to acquire a binary image, by comparing the disparity value at a pixel of the disparity map to a threshold and by setting the value to 0 or 1 depending on the disparity value being respectively above or below the threshold; a step of performing morphology erosion on the binary image so as to acquire a first image; a step of setting one or more seed points at a predetermined part in the first image,the predetermined part covering a part of the road surface, but not exceeding the boundaries of the road surface; a step of conducting region growing based on the one or more set seed points so as to acquire a segment, by obtaining and adding pixels in a neighboring region, that have a same or similar characteristic, to the region at which the seed points are located, and then repeating the process of adding pixels to the regions of the obtained pixels by treating them as new seed points, until no pixels may be found to serve as new seed points; and a step of letting the segment serve as the road-surface region of interest; and wherein the step of determining the plural road-surface points of interest comprises: a step of carrying out post-processing with respect to the road-surface region of interest so as to acquire a first region of interest; and a step of letting intersections of the original disparity map and the first region of interest serve as the plural road-surface points of interest. a step of carrying out post-processing with respect to the road-surface region of interest so as to acquire a first region of interest; and a step of letting intersections of the original disparity map and the first region of interest serve as the plural road-surface points of interest.