This object recognition device is provided with a category selection unit (10) which selects a facial orientation on the basis of error between the positions of face feature points (eyes and mouth) for each facial orientation and positions of face feature points in a face image to be matched corresponding to the face feature points for each facial orientation, and with a matching unit (11) which compares the face image to be matched and registered face images of the facial orientation selected by the category selection unit (10), wherein the facial orientations are determined such that the ranges of facial orientations for which the error with respect to each facial orientation is within a prescribed value are contiguous or overlapping. By this means, a face image to be matched and the registered face images can be accurately matched.
OBJECT RECOGNITION DEVICE OBJECTION RECOGNITION METHOD