An object detection device comprising: an image capturing unit configured to capture image data for generating an image that includes disparity information or distance information on a pixel basis; a first generator configured to generate a first map which is a U-disparity map in which a pixel location of the image in a direction of one axis, a disparity value at the pixel location, and a disparity frequency at which the disparity value appears are associated with one another; a second generator configured to generate a second map obtained by converting the axis of a pixel location on the first map from a unit of pixel into a unit of an actual distance; a detector configured to detect an area of a group of connected pixels that have a disparity frequency equal to or more than a predetermined value on the second map as an isolated area where an object is present; a divider configured to divide the isolated area based on a disparity frequency of each pixel that is included in the isolated area; and a third generator configured to generate a histogram of disparity frequencies based on a disparity frequency of each pixel that is included in the isolated area of the second map, wherein a tilt that occurs in the isolated area has been corrected by calculating x new = (dist 2 /dist 1) × x org by a voting-position determining unit, wherein x org defines a pixel location in a direction of a horizontal axis in the isolated area, dist 1 defines a distance between a reference position and the image capturing unit, dist 2 defines a distance between a processing target pixel and the image capturing unit, and x new defines a new pixel location, and wherein the object detection device comprises said voting-position determining unit configured to determine a voting position for each pixel in the isolated area, wherein the voting position is defined to be x new calculated for the respective pixel and specifies the position of the bin in the histogram of disparity frequencies in accordance with the disparity frequency of the respective pixel, and wherein the third generator is configured to generate the histogram of disparity frequencies on the basis of the disparity frequency and the voting position of each pixel in the isolated area, and wherein the divider is configured to divide the isolated area based on the histogram of disparity frequencies. an image capturing unit configured to capture image data for generating an image that includes disparity information or distance information on a pixel basis; a first generator configured to generate a first map which is a U-disparity map in which a pixel location of the image in a direction of one axis, a disparity value at the pixel location, and a disparity frequency at which the disparity value appears are associated with one another; a second generator configured to generate a second map obtained by converting the axis of a pixel location on the first map from a unit of pixel into a unit of an actual distance; a detector configured to detect an area of a group of connected pixels that have a disparity frequency equal to or more than a predetermined value on the second map as an isolated area where an object is present; a divider configured to divide the isolated area based on a disparity frequency of each pixel that is included in the isolated area; and a third generator configured to generate a histogram of disparity frequencies based on a disparity frequency of each pixel that is included in the isolated area of the second map, wherein a tilt that occurs in the isolated area has been corrected by calculating x new = (dist 2 /dist 1) × x org by a voting-position determining unit, wherein x org defines a pixel location in a direction of a horizontal axis in the isolated area, dist 1 defines a distance between a reference position and the image capturing unit, dist 2 defines a distance between a processing target pixel and the image capturing unit, and x new defines a new pixel location, and wherein the object detection device comprises said voting-position determining unit configured to determine a voting position for each pixel in the isolated area, wherein the voting position is defined to be x new calculated for the respective pixel and specifies the position of the bin in the histogram of disparity frequencies in accordance with the disparity frequency of the respective pixel, and wherein the third generator is configured to generate the histogram of disparity frequencies on the basis of the disparity frequency and the voting position of each pixel in the isolated area, and wherein the divider is configured to divide the isolated area based on the histogram of disparity frequencies.