An object distance detection device comprising: a plurality of imaging units (101, 102) including a first imaging unit and a second imaging unit; an object information acquisition unit configured to acquire object information including distance information of an object and to detect the object from an image acquired from either the first imaging unit or second imaging unit, and to detect a distance of the object by monocular processing; a search condition setting unit configured to set a condition for searching for an image element, corresponding to a specific image element in a standard image captured by one of the plurality of imaging units (101, 102), inside a reference image captured by another one of the plurality of imaging units (101, 102), wherein the condition for searching includes a search range and a processing area (205, 206, 207, 029), and wherein the search condition setting unit includes: a processing area setting unit configured to set, within the reference image, the processing area (205, 206, 207, 209) including the object obtained by the object information acquisition unit, and a search range setting unit configured to set the search range of the number of pixels for the search on the basis of the distance information of the object included in the object information detected by the object information acquisition unit; and a stereo distance detection unit configured to perform the search on the basis of the condition for searching set by the search condition setting unit, and to detect a detailed distance of the object on the basis of a parallax obtained by the search. a plurality of imaging units (101, 102) including a first imaging unit and a second imaging unit; an object information acquisition unit configured to acquire object information including distance information of an object and to detect the object from an image acquired from either the first imaging unit or second imaging unit, and to detect a distance of the object by monocular processing; a search condition setting unit configured to set a condition for searching for an image element, corresponding to a specific image element in a standard image captured by one of the plurality of imaging units (101, 102), inside a reference image captured by another one of the plurality of imaging units (101, 102), wherein the condition for searching includes a search range and a processing area (205, 206, 207, 029), and wherein the search condition setting unit includes: a processing area setting unit configured to set, within the reference image, the processing area (205, 206, 207, 209) including the object obtained by the object information acquisition unit, and a search range setting unit configured to set the search range of the number of pixels for the search on the basis of the distance information of the object included in the object information detected by the object information acquisition unit; and a processing area setting unit configured to set, within the reference image, the processing area (205, 206, 207, 209) including the object obtained by the object information acquisition unit, and a search range setting unit configured to set the search range of the number of pixels for the search on the basis of the distance information of the object included in the object information detected by the object information acquisition unit; and a stereo distance detection unit configured to perform the search on the basis of the condition for searching set by the search condition setting unit, and to detect a detailed distance of the object on the basis of a parallax obtained by the search.