An object detection device for detecting a position of an object on an imaging plane imaged by a camera, including: a processor to acquire image data generated by the camera and perform coordinate transformation, with respect to a position of the object, from first coordinates associated with an image indicated by the image data to second coordinates associated with the imaging plane; and a memory to store setting information used for the coordinate transformation, wherein the setting information includes a set value indicating a height from the imaging plane for each type among a plurality of types of objects, and the processor acquires a position of the object in the first coordinates and a type of the object based on the image data and calculates a position of the object in the second coordinates by performing the coordinate transformation using the set value corresponding to the type of the object.