The present disclosure provides an object identification apparatus, an object identification method, and a control program that improve the accuracy of an object identification. A data conversion processing unit (12) converts a second group including a plurality of reflection point data units in which a reflection point corresponding to each reflection point data unit belongs to a three-dimensional object among a first data unit group into a third group including a plurality of projection point data units by projecting the second group onto a horizontal plane in a world coordinate system. A clustering processing unit (13) clusters the plurality of projection point data units of the third group into a plurality of clusters based on positions of these units on the horizontal plane. A space of interest setting unit (14) sets a space of interest for each cluster by using the plurality of reflection point data units corresponding to the plurality of projection point data units included in each cluster.
OBJECT IDENTIFICATION DEVICE, OBJECT IDENTIFICATION METHOD, AND NON-TEMPORARY COMPUTER READABLE MEDIUM STORING CONTROL PROGRAM