PROBLEM TO BE SOLVED: To improve detection accuracy of a cylindrical body or a spherical body form an image.;SOLUTION: An object detection device 1 detects a cylindrical or spherical object from an image, and includes a projection transformation unit 11 which performs projection transformation of an original image which is obtained by imaging an object from an inclined angle with respect to a plane in a space into a front image obtained by imaging the object from a direction perpendicular to the plane, a foreground region extraction unit 12 which extracts a foreground region located in front of the plane from the front image, a designated color extraction unit 13 which extracts a designated color region matching the designated color from the foreground region, a profile detection unit 14 which approximates a profile surrounding the designated color region with an ellipse, and a shape verification unit 15 which determines whether the ellipse is a circle or not, and outputs the ellipse as a cylindrical object of a spherical object if the ellipse is a circle.;SELECTED DRAWING: Figure 2;COPYRIGHT: (C)2019,JPO&INPIT
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