Object detection apparatus

An object detection apparatus comprising:

• an imager configured to image surroundings of a subject vehicle and to obtain a surrounding image;
• an interested-object detector configured to detect an interested-object from the surrounding image and to output first image coordinates, which indicate a position of the detected interested-object on the surrounding image;
• a position detector configured to detect a position of the subject vehicle;
• a map storage configured to store therein map information including a plurality of coordinate points, each of which indicates three-dimensional coordinates of respective one of a plurality of points on a road;
• and
• a calculator configured to associate the interested-object with one or more coordinate points out of the plurality of coordinate points on the basis of the first image coordinates and the position of the subject vehicle, and configured to calculate at least one of a position of the interested-object on a real space and a distance to the interested-object from the subject vehicle on the basis of the position of the subject vehicle and the associated one or more coordinate points.