Object position detection apparatus

An object position detection apparatus which outputs a position of an object as a two-dimensional distance image, comprising:

• a distance image generation unit which generates the two-dimensional distance image by measuring a distance to a subject including the object on the basis of a light transmission time;
• an object image generation unit which generates an object image in which the object is extracted from the distance image of the subject;
• and
• an installation angle detection unit which detects an installation angle of the distance image generation unit or an object distance/posture detection unit which detects a distance to the object or a posture of the object,
• wherein the object image generation unit includes a differentiator performing a process of removing a background other than the object from the distance image of the subject, and
• wherein a threshold value for removing the background in the differentiator is set in response to the installation angle of the distance image generation unit detected by the installation angle detection unit or the detection result of the object distance/posture detection unit.