Object recognition device

An object recognition device comprising:

• a Laser Imaging Detection and Ranging Device (LIDAR) irradiates a laser beam around a vehicle and detects a laser beam reflected at surroundings of the vehicle;
• a processor executes clustering processing of a detected point group of the LIDAR based on three-dimensional (3D) positional data of respective detected point including time of flight data of the laser beam;
• and
• a color image acquiring portion which acquires color images of the surroundings,
• wherein, in the clustering processing, the processor associates a first detection point corresponding to a first coordinate with a second detection point corresponding to a second coordinate when a linkable condition is satisfied in the first and second coordinates on a distance image represented by the 3D positional data,
• wherein the linkable condition is satisfied when a distance between the first and second coordinates is greater than or equal to a predetermined distance, a difference in the time of flight data between the first and second detection points is less than a predetermined difference, and a condition for coordinate is satisfied,
• wherein the condition for coordinate is satisfied when a route coordinate indicating a coordinate locating on a route between the first and second coordinates is an undetected coordinate at which the time of flight data has not been calculated, and a color pixel value indicating a pixel value of every coordinate that overlaps the route coordinate is a preset black type pixel value.