The author is developing an alarm dispatching system for a blind person, an elderly person on a mobility scooter or an unmanned mobile vehicle such as mobile a robot by using a depth sensor. The system is intended to raise an alarm for dangerous situations that can be detected by a depth sensor attached to the mobile body. For safely moving on a road or a floor, the important functions include detecting objects on the road and also holes or ditches. To find the road surface, we have employed an

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... approach of estimating the posture of the depth sensor. In this paper, the algorithm and its application will be described, and numerical experiments will be conducted.