OBJECT DETECTING DEVICE, AND OBJECT DETECTING METHOD

The invention provides an object detecting device and an object detecting method. The object detecting device (20) is provided with an object position acquiring unit (302), and an object position estimating unit (303). If both a direct wave and an indirect wave are received, the object position acquiring unit acquires the relative position of the object relative to a moving body using the principle of triangulation employing ranging information based on the direct wave and ranging information based on the indirect wave. If only either a direct wave or an indirect wave is received as a received wave, and the received wave is a reflected wave from an object of which the relative position has been acquired by the object position acquiring unit, the object position estimating unit estimates the relative position of the object relative to the moving body on the basis of a reference position, which is the relative position that has been acquired. 本发明提供物体检测装置以及物体检测方法。物体检测装置(20)具备物体位置获取部(302)以及物体位置推断部(303)。物体位置获取部在接收