DESCRIZIONE
A Continuous Transmission Frequency Modulated (CTFM) detection apparatus is provided. The CTFM detection apparatus includes a projector (2), a receiving element (31a, 31b), a motion mechanism (4), and a target object information generator (18). The projector (2) is configured to transmit a frequency modulated transmission wave and to generate a 3-dimensional transmission beam. The receiving element (31a, 31b) is configured to receive a reflected wave, the reflected wave comprising a reflection of the transmission wave. The motion mechanism (4) is configured to set the receiving element (31a, 31b) in motion and to make a reception beam formed by the receiving element (31a, 31b) scan a 3-dimensional space within the transmission beam. The target object information generator (18) is configured to generate information on target objects within the 3-dimensional space based at least in part on a beat signal generated based at least in part on the transmission wave transmitted by the projector (2) and the reflected wave received by the receiving element (31a, 31b). [Image Omitted]