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图像生成部
The own-vehicle corresponding point search unit 105 searches the omni-directional images generated by two of the omni-directional image generating units selected by the selecting unit 101 and stored in the omni-directional image storage unit 102 for the images of the own vehicle, and determines own vehicle corresponding points on the images.
In Step S252, each of the omni-directional difference image generating units 702 reads the omni-directional image held by a corresponding one of the omni-directional image holding units 701, from the corresponding one of the omni-directional image holding units 701.
In Step S253, each of the omni-directional difference image generating units 702 generates a difference image between two omni-directional images, that is, (i) the omni-directional image generated by the corresponding one of the omni-directional image generating units 100 in Step S251 and (ii) the omni-directional image read from the corresponding one of the omni-directional image holding units 701 in Step S252.
Each of the omni-directional image generating units 1300 generates an omni-directional image with respect to the placed three-dimensional position coordinates, and transfers the omni-directional image to the omni-directional image storage unit 1301 via a network.
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