OBJECT RECOGNITION DEVICE, ROBOT, AND OBJECT RECOGNITION METHOD

摘要

PROBLEM TO BE SOLVED: To grasp a superimposition relation between objects more specifically.SOLUTION: An object recognition device according to the present invention includes: an imaging unit imaging surroundings temporally continuously to generate a plurality of pieces of image information; an object recognition unit recognizing a first object and a second object located within an imaging range for each of the plural image information; a motion determination unit determining whether each of the first object and the second object is in a static state or a motion state, from a change in a position of each of the recognized first and second objects; and a superimposition relation estimation unit estimating a superimposition relation between the first object and the second object. The superimposition relation estimation unit estimates that the second object is present within the first object if the second object is not recognized while the first object is in the static state and the second object is in the motion state, and estimates that the second object is present on the first object if the first object is not recognized while the first object is in the static state and the second object is in the motion state.