An object detection apparatus includes a boundary box decision circuit and a processing circuit. The boundary box decision circuit receives lens configuration information of a lens, and refers to the lens configuration information to determine a bounding box distribution of bounding boxes that are assigned to different detection distances with respect to the lens for detection of a target object. The processing circuit receives a captured image that is derived from an output of an image capture device using the lens, and performs object detection upon the captured image according to the bounding box distribution of the bounding boxes.