An object recognition device for performing recognition processing on a disparity image generated from a plurality of captured images captured by a plurality of imaging units to recognize an object, the object recognition device comprising: a disparity arithmetic unit configured to calculate a disparity value of the captured image through matching processing, the disparity arithmetic unit including an evaluation value calculator configured to calculate an evaluation value of correlation within a predetermined search range; an extreme value detector configured to detect an extreme value of the evaluation value; characterized by a counter configured to count the number of the extreme values having values within a predetermined range; and an updater configured to update the predetermined range when an extreme value representing higher correlation than the value within the range is detected, wherein the counter counts the number of extreme values within a range finally updated within the search range and wherein the disparity arithmetic unit invalidates a disparity value corresponding to the extreme value within the finally updated range when a count value of the counter is equal to or larger than a predetermined value, a determination unit configured to determine a valid distance pixel forming the disparity image and an invalid distance pixel not forming the disparity image, such that a distance pixel is determined to be the valid distance pixel when a calculated vertical edge amount of a pixel in a captured image corresponding to the distance pixel is larger than a first predetermined threshold and to be the invalid distance pixel when the calculated vertical edge amount is not larger than the first predetermined threshold; a validation unit configured to change the invalid distance pixel near the valid distance pixel to a valid distance pixel; and a recognition processor configured to perform recognition processing on the disparity image formed by the valid distance pixel determined by the determination unit and the valid distance pixel obtained by the changing unit to recognize the object, the object recognition device further comprises a calculator configured to set a valid disparity pair of two adjacent valid disparities out of valid disparities each corresponding to valid distance pixels on the same line in the disparity image, and calculate an interval in a horizontal direction between the valid disparities of the valid disparity pair; and in that the validation unit is configured to validate a disparity between the valid disparity pair when the interval in the horizontal direction between the valid disparities of the valid disparity pair is below a second predetermined threshold and a disparity value of the disparity between the valid disparity pair is within a disparity value range determined in accordance with disparity values of the valid disparity pair. a disparity arithmetic unit configured to calculate a disparity value of the captured image through matching processing, the disparity arithmetic unit including an evaluation value calculator configured to calculate an evaluation value of correlation within a predetermined search range; an extreme value detector configured to detect an extreme value of the evaluation value; characterized by a counter configured to count the number of the extreme values having values within a predetermined range; and an updater configured to update the predetermined range when an extreme value representing higher correlation than the value within the range is detected, wherein the counter counts the number of extreme values within a range finally updated within the search range and wherein the disparity arithmetic unit invalidates a disparity value corresponding to the extreme value within the finally updated range when a count value of the counter is equal to or larger than a predetermined value, a determination unit configured to determine a valid distance pixel forming the disparity image and an invalid distance pixel not forming the disparity image, such that a distance pixel is determined to be the valid distance pixel when a calculated vertical edge amount of a pixel in a captured image corresponding to the distance pixel is larger than a first predetermined threshold and to be the invalid distance pixel when the calculated vertical edge amount is not larger than the first predetermined threshold; a validation unit configured to change the invalid distance pixel near the valid distance pixel to a valid distance pixel; and a recognition processor configured to perform recognition processing on the disparity image formed by the valid distance pixel determined by the determination unit and the valid distance pixel obtained by the changing unit to recognize the object, the object recognition device further comprises a calculator configured to set a valid disparity pair of two adjacent valid disparities out of valid disparities each corresponding to valid distance pixels on the same line in the disparity image, and calculate an interval in a horizontal direction between the valid disparities of the valid disparity pair; and in that the validation unit is configured to validate a disparity between the valid disparity pair when the interval in the horizontal direction between the valid disparities of the valid disparity pair is below a second predetermined threshold and a disparity value of the disparity between the valid disparity pair is within a disparity value range determined in accordance with disparity values of the valid disparity pair.