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An object recognition device includes an appearance feature generation unit, a movement feature generation unit, a feature combining unit, and a recognition unit to recognize the moving object in the captured image with high precision even if the area of the moving object in the captured image varies due to movement in the direction receding from/approaching to an imaging device. The appearance feature generation unit extracts, as an appearance feature, an appearance-related feature from an image of the moving object in the captured image. The movement feature generation unit normalizes a movement amount of the moving object in the captured image to calculate a value obtained by the normalization as a movement feature. The feature combining unit combines the appearance feature with the movement feature. The recognition unit recognizes the moving object using information obtained by the feature combining unit.