Abstract
An obstacle detection device (61) is mounted on a moving body (10). The obstacle detection device includes a camera (62), and a controller (81). The controller (81) obtains a captured image from the camera (62). The controller 5 (81) calculates a position of an obstacle (O) based on a feature portion of the captured image and an angle of an optical axis (63) of the camera (62). The controller (81) does not correct the angle of the optical axis (63) when a specific condition is met, and corrects the angle of the optical axis (63) when the specific condition is not met. 10