A road obstacle detection device which uses a pre-learned first identifier to associate a semantic label with each pixel of an image, uses a pre-learned second identifier to estimate a statistical distribution of a semantic label of a predetermined region of interest of the image from a statistical distribution of a semantic label of a peripheral region that surrounds the region of interest, and uses the statistical distribution of the semantic label associated with the region of interest and the statistical distribution of the semantic label estimated for the region of interest to estimate a likelihood that an object is a road obstacle.