Object detection and recognition device, method, and program

An object detection and recognition device, comprising:

• a first hierarchical feature map generator configured to input an image to be recognized into a Convolutional Neural Network (CNN) and generate a hierarchical feature map based on feature maps that are output by layers of the CNN, the hierarchical feature map being constituted of the feature maps hierarchized from a deep layer to a shallow layer;
• a second hierarchical feature map generator configured to generate a hierarchical feature map based on the feature maps which are output by the layers of the CNN, the hierarchical feature map being constituted of the feature maps hierarchized from the shallow layer to the deep layer;
• an integrator configured to generate a hierarchical feature map by integrating feature maps of corresponding layers in both the hierarchical feature map constituted of the feature maps hierarchized from the deep layer to the shallow layer and the hierarchical feature map constituted of the feature maps hierarchized from the shallow layer to the deep layer;
• an object region detector configured to detect object candidate regions based on the hierarchical feature map generated by the integrator;
• and
• an object recognizer configured to recognize, for each of the object candidate regions, a category and region of an object which is represented by the object candidate region based on the hierarchical feature map generated by the integrator.