Obstacle detection apparatus, traveling body, obstacle detection method, and recording medium

(canceled)

A non-transitory recording medium storing a plurality of program codes which, when executed by one or more processors, causes the processors to perform an obstacle detection method, comprising:

• generating a height map based on three-dimensional road surface data obtained from data acquired by a three-dimensional range sensor, the height map holding height information indicating a height from a road surface, wherein the three-dimensional range sensor is disposed on a front side of a traveling body in a traveling direction in which the traveling body travels on the road surface and has an irradiation angle of laser beam being a depression angle relative to the road surface;
• and
• detecting an obstacle on the road surface by the height map.