Provided is a machine learning-based object detection method performed by an object detection apparatus. the method comprises constructing an object detection model by performing machine learning on a training image set, wherein the object detection model is a model for detecting a target object in an input image based on the result of comparing a confidence score for the target object with a threshold value, obtaining an input image given a detection result for the target object, wherein the obtained input image is an image not included in the training image set, predicting one or more object regions, in which the target object exists, in the obtained input image by using the object detection model, classifying a region not matching the detection result among the predicted object regions as a false detection region; and adjusting the threshold value of the object detection model based on a confidence score of the false detection region.