An obstacle detection apparatus more accurately detects a moving obstacle present around a motor vehicle. With this system, desired feature quantities of an obstacle present in a coverage of a first sensor are calculated and then stored into a storage device, and when the obstacle moves from the coverage of the first sensor to a coverage of a second sensor, a relative distance to the obstacle is calculated from the above-stored feature quantities of the obstacle and from the desired feature quantities of the obstacle, obtained by analyzing the recognition results of the second sensor that have been processed by a processor which processes the recognition results.