Object detection method, object detection device and image pickup device

The invention relates to an object detection method, an object detection device and an image pickup device. The object detection method comprises an object detection step in which a specific object is detected in an image by a specific object detector, a scene model acquisition step in which a scene model representing the background of the particular object in the image is acquired, and a filtering step in which an object detection result obtained in the object detection step is filtered with the scene model in order to determine the specific object.