Obstacle proximity detection device

Abstract

This obstacle proximity detection device comprises: an acquisition unit that sequentially acquires three-dimensional point cloud data; an identification unit that identifies, from the point cloud data, a three-dimensional object model representing an object and a three-dimensional obstacle model representing an obstacle; a detection unit that detects proximity between the object and the obstacle on the basis of the distance between the object model and the obstacle model; and an alarm unit that issues an alarm when proximity between the object and the obstacle is detected.