Object recognition apparatus

An object recognition apparatus comprising:

• a recognizer configured to recognize a plurality of objects;
• an acquirer configured to obtain behavior information about behaviors of the objects recognized in first timing by said recognizer;
• a parallel moving determinator configured to determine whether or not a parallel moving condition is satisfied on the basis of the behavior information, wherein the parallel moving condition indicates that there are a first object and a second object, which move in parallel with each other, among the objects recognized in the first timing;
• a recognition determinator configured to determine whether or not a recognition condition is satisfied, wherein the recognition condition indicates that there is the second object among the objects recognized by said recognizer in second timing, which is later than the first timing;
• a recognition number determinator configured to determine whether or not a recognition number condition is satisfied, wherein the recognition number condition indicates that a number of the objects recognized in the second timing is reduced in comparison with a number of the objects recognized in the first timing;
• and
• a parallel moving loss determinator configured to determine that the first object is in a parallel-moving-object-lost state in which recognition by said recognizer cannot be performed due to an overlap with the second object, if the recognition condition and the recognition number conditions are satisfied in the second timing, after the parallel moving condition is satisfied in the first timing.