Object detection device and vehicle

An object detection device that detects an object based on an image obtained from a stereo camera on a vehicle, the object detection device comprising:

• a parallax calculator that calculates three-dimensional information of a scene in the image;
• a first road parameter estimator that calculates, based on the three-dimensional information, a first road parameter indicating a distance between the stereo camera and a road surface on which the vehicle is traveling;
• a road parameter storage that associates the first road parameter with vehicle information related to a traveling state of the vehicle successively to store first road parameters and vehicle information therein;
• a second road parameter estimator that calculates, based on the first road parameters and vehicle information stored in the road parameter storage, a second road parameter using the first road parameter under a predetermined condition related to the vehicle;
• and
• an object detector that detects the object using the second road parameter, wherein
• the predetermined condition includes a condition that an angular difference between a road surface observed from the stereo camera and a contact surface of the vehicle at a time of observation is within a predetermined angle.