Object recognition device

An object recognition device comprising:

• a sensor information acquisition unit that acquires sensor information obtained by sensing a periphery;
• an image acquisition unit that acquires an image obtained by capturing an image of a periphery;
• a distance information acquisition unit that acquires distance information with respect to an overlapping region where sensing regions of the sensor information acquisition unit and the image acquisition unit overlap;
• an overlapping region object detection unit that detects an object from the overlapping region on a basis of the distance information acquired by the distance information acquisition unit;
• a part specification unit that determines a specific part region in the object by analyzing an image of a region corresponding to the object detected by the overlapping region object detection unit;
• an image information storage unit that stores image information regarding a part region determined by the part specification unit;
• a three-dimensional information acquisition unit that acquires three-dimensional information of a part region specified by the part specification unit on a basis of the distance information acquired by the distance information acquisition unit;
• a non-overlapping region object detection unit that refers to the image information stored in the image information storage unit with respect to a non-overlapping region where sensing regions of the sensor information acquisition unit and the image acquisition unit do not overlap, and detects a similar part region having a part region specified by the part specification unit or a part of a part region specified by the part specification unit;
• and
• a distance calculation unit that calculates a distance to an object including the part region or the similar part region on a basis of detection region information on the image of the part region or the similar part region detected by the non-overlapping region object detection unit and the three-dimensional information acquired by the three-dimensional information acquisition unit.