PERIPHERY-INFORMATION ACQUISITION DEVICE FOR VEHICLE

At an end portion of a telescopic boom (16) of a crane (10), a stereo camera (30) which measures a distance from the end portion to an object is provided, and an image-processing controller (60) which obtains three-dimensional position information of the object based on the crane (10) as reference from measurement data to the object by the stereo camera (30) is provided, and three-dimensional positon information of an object in a surrounding area centering on the crane (10) by the moving the telescopic boom (16) is obtained.