A mobile body surrounding surveillance apparatus is provided which comprises an omnidirectional vision sensor comprising an optical system for reflecting light incident from a maximum surrounding 360-degree visual field area toward a predetermined direction and an imaging section for imaging light reflected from the optical system to obtain image data, an image processing section for processing the image data obtained by the imaging section, and a display section for displaying the image data processed by the image processing section on a display screen as a mobile body surrounding image. The omnidirectional vision sensor is provided on at least one of left and right sides of the mobile body with an optical axis of the omnidirectional vision sensor being horizontally oriented.