OBJECT DETECTION SYSTEM

The present invention accurately extracts a moving object desired to be extracted regardless of the background condition of the moving object to be extracted. An object detection system (1) comprises a distance image detection means that detects a distance image from the outside world and a moving object extraction means (2) that extracts a moving object desired to be extracted from the distance image. The moving object extraction means records in advance a distance image in a state where the moving object desired to be extracted is not present in a storage unit (2a) as a background, and extracts only pixels for which the current distance is closer than the distance of the background, as candidates of pixels corresponding to the moving object to be extracted (S2, S3). In addition, the moving object extraction means: performs determination (S7) on the basis of the size of a cluster and so forth and extracts the moving object to be extracted from a pixel group composed of extracted candidate pixels; and newly records, as background distances, the distances of pixels included in parts not extracted as the moving object to be extracted, such recording performed in the storage unit (S8).