[P-26] Proposal of Surrounding Structure Estimation Method Using Ambient Light Yusuke Nagahata1, 〇Eri Yamabe1, Naoya Miwa1, Bilal Ahmed Mir1, Tohru Sasaki1, Kenji Terabayashi1 (1.University of Toyama) Keywords:Measurement、Image sensing、Estimation surrounding structure、Visual affordance、