A recognition device, comprising: a storage unit that stores therein: a first discriminator associating each of features of a person included in image information, with a first range indicating a range of direction that a body of the person has possibility of facing; a second discriminator associating each of features of the person included in distance information, with a second range indicating a range of direction that the body of the person has possibility of facing; and a joint position dictionary associating directions that the body of the person faces, with joint positions of the person; a first recognition unit that acquires image information of a target person, and determines a first range corresponding to the image information of the target person, based on the first discriminator and a feature in the image information; a second recognition unit that acquires distance information of the target person, determines a second range corresponding to the distance information of the target person, based on the second discriminator and a feature in the distance information, and adds a range in a direction diagonal to the determined second range, to the second range; a movement estimating unit that estimates a moving direction and a moving distance of the body of the target person, based on a queue holding therein information on directions that the body of the target person faces, the directions having been determined in the past; and a third recognition unit that determines a direction that a body of the target person is facing, based on the moving direction, the moving distance, the first range determined by the first recognition unit and the second range, and recognizes a skeleton of the target person, based on the determined direction and the joint position dictionary. a storage unit that stores therein: a first discriminator associating each of features of a person included in image information, with a first range indicating a range of direction that a body of the person has possibility of facing; a second discriminator associating each of features of the person included in distance information, with a second range indicating a range of direction that the body of the person has possibility of facing; and a joint position dictionary associating directions that the body of the person faces, with joint positions of the person; a first recognition unit that acquires image information of a target person, and determines a first range corresponding to the image information of the target person, based on the first discriminator and a feature in the image information; a second recognition unit that acquires distance information of the target person, determines a second range corresponding to the distance information of the target person, based on the second discriminator and a feature in the distance information, and adds a range in a direction diagonal to the determined second range, to the second range; a movement estimating unit that estimates a moving direction and a moving distance of the body of the target person, based on a queue holding therein information on directions that the body of the target person faces, the directions having been determined in the past; and a third recognition unit that determines a direction that a body of the target person is facing, based on the moving direction, the moving distance, the first range determined by the first recognition unit and the second range, and recognizes a skeleton of the target person, based on the determined direction and the joint position dictionary.