In a capsule endoscope illuminating units are disposed around an image capturing unit in such a manner that an optical axis of the illuminating units do not intersect with an optical axis of the observation unit, and illumination areas of the illuminating units overlap at substantially a central portion of an image capturing area of the image capturing unit. The apparatus is a combination of a temperature and volatile organic compound sensor. In addition, a controller is configured to separate the laser scanner data obtained by the laser scanner into a plurality of layers to extract measurement data present in each layer and determine feature points of the measurement data to classify a type of obstacle based on a plurality of stored feature points. The gate lines cross the data lines.