A method for monitoring movement of a moving object and avoiding a collision with it comprises constructing a panoramic image from images of a rotating camera attached to the moving object, constructing a virtual cuboid around the moving object utilizing data from the panoramic image, calculating a difference between a position of the cuboid and a position of an obstacle, and changing a moving direction of the moving object if the difference between the position of the cuboid and the position of an obstacle is smaller than a threshold value to avoid the obstacle.