Patent ID: 7463184

Claim:
An object detection apparatus for detecting a detection subject existing in a predetermined space, comprising: an object model recording unit that records an object model, the object model being an image expressing a form of at least one detection subject to be detected; a distance sensor that detects at least one object candidate and calculates the distance to said object candidate by emitting electromagnetic waves in a radial form so as to cover the entirety of said predetermined space and detecting reflected waves of said electromagnetic waves; a stereo image sensor that captures two images of said object candidate from different viewpoints and obtains image information from said two captured images; a model conversion unit that calculates a comparison model, which is an image in which the size of said object model is converted to a size corresponding to said calculated distance to said object candidate; and a determination unit that extracts a comparison image from said image information and determines a similarity between said comparison model and said comparison image, wherein said determination unit determines whether or not said object candidate is said detection subject on the basis of said similarity between said comparison model and said comparison image.