Object detection method and device

The invention provides an object detection method and a device. The object detection method comprises steps that: disparity images are acquired from a stereo camera for object area imaging; planes are detected from the disparity images; object surface candidates are selected from the planes detected from the disparity images according to characteristics of a physical surface of an object; the object surface candidates are converted into front view surfaces, and the front view surfaces are object surface images acquired by utilizing the stereo camera to shoot from a visual angle just pointing to the physical surface of the object; the object is detected at least partially on the basis of the front view surfaces after conversion. According to the method and the device, influence of original deformation can be eliminated, the object is detected by utilizing already-extracted non-deformation characteristics and/or a classifier and on the basis of the front view surfaces after conversion.