OBJECT DETECTION DEVICE AND OBJECT DETECTION METHOD

A target detection apparatus (100) acquires (11) an image by imaging the surroundings of a vehicle, detects (12) a self-position of the vehicle based on an amount of movement of the vehicle from an initial position thereof, and estimates (13) a relative position of a target, located around the vehicle, with respect to the vehicle based on the self-position and information on a position of the target on a map. The target detection apparatus sets (14) a detection area for the target within the image based on the relative position of the target with respect to the vehicle, and detects (15) the target from the detection area. The target detection apparatus estimates (16) error contained in the self-position based on the amount of movement of the vehicle from the initial position, and adjusts (14) the size of the detection area for the target according to the error.