OBJECT DETECTION DEVICE, VEHICLE, AND OBJECT DETECTION PROCESS

An object detection device (41) configured to be mounted on a vehicle (10) includes an object extraction unit that is configured to extract a point group that is a set of points representing a part of an object (O) as the object (O), a neighboring object extraction unit that is configured to extract a neighboring object (O1) in an XY-plane of a world coordinate system, wherein the neighboring object (O1) is the object (O) which is the closest to the vehicle (10), a coordinate transformation unit that is configured to transform coordinates of the neighboring object (O1) in the world coordinate system into coordinates of the neighboring object (O1) in an image (11) captured by a camera (31), and a person determination unit that is configured to perform a person detection process in which it is determined whether or not the neighboring object (O1) is a person on the coordinates of the neighboring object (O1).