Object detection apparatus

An object detection apparatus comprising:

• a detector mounted on a mobile body, and configured to irradiate a three-dimensional space in a surrounding of the mobile body with an electromagnetic wave to detect an exterior environment situation in the surrounding of the mobile body based on a reflected wave;
• and
• a microprocessor, wherein
• the microprocessor is configured to perform:
• acquiring from the detector, point cloud data including three-dimensional position information of a measurement point on a surface of an object from which the reflected wave is obtained and first speed information indicating a relative moving speed of the measurement point;
• acquiring second speed information indicating an absolute moving speed of the mobile body;
• calculating the absolute moving speed of each of a plurality of measurement points corresponding to the point cloud data, based on the first speed information and the second speed information;
• classifying the point cloud data into moving point cloud data and stationary point cloud data other than the moving point cloud data, the moving point cloud data corresponding to measurement points where absolute values of the absolute moving speeds are equal to or higher than a predetermined speed;
• converting the three-dimensional position information of each of measurement points corresponding to the moving point cloud data into two-dimensional position information;
• generating speed added data by adding the absolute moving speed corresponding to each of the measurement points corresponding to the moving point cloud data to the two-dimensional position information of each of the measurement points;
• and
• detecting the object included in the three-dimensional space in the surroundings of the mobile body, based on the speed added data.