In an object detection apparatus, a sameness determination unit determines whether or not a first object and a second object are a same object, where the first object is an object detected by an electromagnetic wave sensor and the second object is an object detected by an image sensor. A position determination unit determines a position of the same object that is an object for which the first object and the second object are determined to be the same, where a Y-coordinate of or a distance to the same object in an XY-plane is determined employing a result of the detection of the first object and an X-coordinate or an azimuth of the same object with respect to a reference direction in the XY-plane is determined employing a result of the detection of the second object.