An object recognition apparatus, comprising: a first object detection unit being a stereo camera ranging unit configured to be installed in a vehicle so as to image at least a front area of the vehicle and to detect an object based on an image of the object captured by the stereo camera, and output first distance information including a distance to the object and first direction information including a direction to the object; a second object detection unit being a laser radar ranging unit configured to emit light onto the object, detect the object based on reflected light reflected at the object, and output second distance information including a distance to the object and second direction information including a direction to the object; an output unit configured to output at least one of the first distance information and the second distance information and at least one of the first direction information and the second direction information; and a disappearance detection unit configured to detect disappearance of the object when the first object detection unit becomes unable to detect the object; characterized in that the output unit is configured to output the first distance information and the first direction information in case of receiving the first distance information, the second distance information, the first direction information and the second direction information; the object recognition apparatus further comprising an emission control unit configured to control the second object detection unit, in a case where the disappearance detection unit detects the disappearance, to emit light in an object direction based on the first direction information before the disappearance detection unit detected the disappearance, wherein upon the disappearance detection unit detecting the disappearance, the output unit starts outputting the second distance information and the second direction information, and when the first object detection unit becomes able to detect the object after the output unit started outputting the second distance information and the second direction information, the output unit starts outputting the first distance information and the first direction information. a first object detection unit being a stereo camera ranging unit configured to be installed in a vehicle so as to image at least a front area of the vehicle and to detect an object based on an image of the object captured by the stereo camera, and output first distance information including a distance to the object and first direction information including a direction to the object; a second object detection unit being a laser radar ranging unit configured to emit light onto the object, detect the object based on reflected light reflected at the object, and output second distance information including a distance to the object and second direction information including a direction to the object; an output unit configured to output at least one of the first distance information and the second distance information and at least one of the first direction information and the second direction information; and a disappearance detection unit configured to detect disappearance of the object when the first object detection unit becomes unable to detect the object; characterized in that the output unit is configured to output the first distance information and the first direction information in case of receiving the first distance information, the second distance information, the first direction information and the second direction information; the object recognition apparatus further comprising an emission control unit configured to control the second object detection unit, in a case where the disappearance detection unit detects the disappearance, to emit light in an object direction based on the first direction information before the disappearance detection unit detected the disappearance, wherein upon the disappearance detection unit detecting the disappearance, the output unit starts outputting the second distance information and the second direction information, and when the first object detection unit becomes able to detect the object after the output unit started outputting the second distance information and the second direction information, the output unit starts outputting the first distance information and the first direction information.