An object detection device (10) is provided with: a video image converting section (20) converting an input video image in which surroundings of a vehicle are shot, to a characteristics video image into which image characteristics have been extracted from the input video image; a video images-classified-by-distance extracting/composing section (30) extracting areas which differ according to distances from the characteristics video image on the basis of the distance from a vehicle and composing the areas; a first object detecting section (40) scanning a composite video image to perform first object detection processing; an object-candidate position specifying section (50) determining an object-candidate position from a result of the first object detection processing; a second object detecting section (60) performing second object detection processing for the object-candidate position; and an object position identifying section (70) identifying an object position from a result of the second object detecting section.