Object distance detection device

An object distance detection device comprising:

• a plurality of imaging units;
• an object information acquisition unit that is configured to, i) acquire object information including distance information of an object, and ii) detect the object from an image acquires from one of the plurality of imaging units, iii) detect a distance to the object;
• a search condition setting unit that is configured to set a condition for searching, for an image element corresponding to a specific image element inside a standard image captured by one of the plurality of imaging units, inside a reference image captured by an imagine unit other than the unit that captured the specific image element inside a standard image, wherein
• the condition for searching includes both a search range and a processing area, and
• the search condition setting unit includes;
• a processing area setting unit is configured to set, within the reference image, the processing area including the object obtained by the object information acquisition unit, and
• a search range setting unit that is configured to set the range for the search on the basis of the distance information of the object included in the objection information detected by the object information acquisition unit, and
• a stereo distance detection unit that is configured to:
• i) perform the search on the basis of the condition for searching set by the search condition setting unit, and to ii) detect a detailed distance of the object on the basis of a parallax obtained by the search.