Obstacle sensing apparatus

An obstacle sensing apparatus, comprising:

• a fetcher which fetches an object scene image repeatedly outputted from an imager which captures an object scene in a direction which obliquely intersects a reference surface;
• a transformer which transforms the object scene image fetched by said fetcher into a bird's-eye view image;
• a detector which detects a difference between screens of the bird's-eye view image transformed by said transformer;
• a first specifier which specifies one portion of difference along a first axis extending in parallel to the reference surface from a reference point corresponding to a center of an imaging surface, out of the difference detected by said detector;
• a second specifier which specifies one portion of difference along a second axis extending in parallel to the reference surface in a manner to intersect the first axis, out of the difference detected by said detector;
• and
• a generator which generates a notification when the difference specified by said first specifier and the difference specified by said second specifier satisfy a predetermined condition.