OBJECT DETECTION DEVICE, AND OBJECT DETECTION METHOD

To provide an object detection device that suppresses increase in the number of laser light to be irradiated, and can highly accurately detect a detection object.SOLUTION: An object detection device 1 comprises: a laser radar 10; a search measurement unit 21 that plurally irradiates an interior of a search measurement area R1 with laser light at a first distribution density to acquire a search measurement result; a detail area determination unit 22 that determines a detail measurement area R2 on the basis of the search measurement result; a detail measurement unit 23 that plurally irradiates an interior of the detail measurement area R2 with the laser light at a second distribution density higher in density than the first distribution density to acquire a detail measurement result; and an object detection unit 24 that detects a detection object on the basis of the detail measurement result.SELECTED DRAWING: Figure 1 【課題】照射するレーザ光の数の増加を抑制しつつ精度良く検出対象物を検出可能な対象物検出装置を提供する。【解決手段】対象物検出装置１は、レーザレーダ１０と、探索計測領域Ｒ１内に第１の分布密度でレーザ光を複数照射させて探索計測結果を取得する探索計測部２１と、探索計測結果に基づいて詳細計測領域Ｒ２を決定する詳細領域決定部２２と、詳細計測領域Ｒ２内に第１の分布密度よりも密度が高い第２の分布密度でレーザ光を複数照射させて詳細計測結果を取得する詳細計測部２３と、詳細計測結果に基づいて、検出対象物を検出する対象物検出部２４と、を備える対象物検出装置。【選択図】図１