Object detection device, object detection method, and object detection program

Abstract

An object detection device (10) is equipped with: an image conversion unit (20) that converts an input image produced by photographing the vicinity of a vehicle into a characteristic image for which image characteristics have been extracted from the input image; a per-distance image extraction-combination unit (30) which, on the basis of the distance from the vehicle, extracts from the characteristic image different regions, which differ for each distance, and which combines these regions; a first object detection unit (40) that scans the combined image and performs a first object detection process; an object candidate position designation unit (50) that obtains an object candidate position from the result of the first object detection process; a second object detection unit (60) that performs a second object detection process with respect to the object candidate position; and an object position identification unit (70) that identifies the object position from the result of the second object detection process. Thus, objects in the vicinity of a vehicle can be detected quickly without a decrease in detection capability.