Object detection device, device control system, and medium

A device control system, comprising:

• processing circuitry configured to
• generate, based on a distance image that includes a distance for each pixel that is defined by a horizontal coordinate along a horizontal axis and a vertical coordinate along a vertical axis, a first map in which a first axis is the horizontal axis of the distance image and a second axis is the distance, and a second map in which the first axis is the horizontal axis of the distance image and the second axis is the distance, the second map having a lower resolution than the first map, and the first and second maps being different from the distance image;
• determine an object using information in the first map when a location of the object along the second axis is determined to be within a first distance range, and determine the object using information in the second map when the location of the object is determined to be within a second distance range different from the first distance range;
• and
• a controller configured to control a predetermined device based on the determined object.