1. An object detection method used to detect an object in an image pair corresponding to a current frame, the image pair including an original image of the current frame and a disparity map of the same current frame, the original image of the current frame including at least one of a grayscale image and a color image of the current frame, the object detection method comprising: obtaining a first detection object detected in the disparity map of the current frame; acquiring an original detection object detected in the original image of the current frame; correcting first, based on the original detection object, the first detection object so as to obtain a second detection object; outputting the second detection object obtaining a historical object template and plural historical weight coefficients for the historical object template, the historical object template being divided into plural historical segments which are respectively assigned the plural historical weight coefficients; determining, based on the historical object template, one or more original candidate objects in the original image of the current frame; respectively calculating, based on the plural historical segments and the plural historical weight coefficients, weighted similarities between the historical object template and the one or more original candidate objects; and determining an original candidate object, whose relevant weighted similarity is maximum, as the original detection object.