OBJECT RECOGNITION DEVICE

摘要

PROBLEM TO BE SOLVED: To accurately recognize an object even if an object position detection means doesn't properly detect a position of the object. SOLUTION: This object recognition device has a first object recognition means recognizing an outer shape of the object on the basis of an image of the object picked up by an image pickup device and a position of the object detected by the object detection means; a reliability decision means deciding reliability on the basis of comparison of the recognition results of the object in at least two cycles just before this cycle; a processing area set means setting a processing area in an image obtained in this cycle by the image pickup means on the basis of the outer shape of the object recognized in the last cycle when the reliability decision means decides that reliability is high; and a second object recognition means recognizing the outer shape of the object in the set processing area. The reliability decision means decides reliability on the basis of the recognition result from the first object recognition means or the recognition result of the second object recognition means.