An object recognition device comprising: - an image acquisition unit that acquires an image including one image region and another image region; - an optical element including an imaging lens having different angular resolutions; and - a recognition processing unit that performs a recognition process on an object in the image, wherein the other image region has a first image region and a second image region, wherein the first image region and the second image region are regions of the image which are discriminated per an incident angle with respect to the optical axis of the imaging lens, and wherein the first image region is a region in which the incident angle with respect to the optical axis of the imaging lens is small; the second image region is a region in which the incident angle with respect to the optical axis of the imaging lens is large; and wherein the one image region has a third image region located between the first image region and the second image region, wherein the third image region has a lower angular resolution compared with the first image region and the second image region; and wherein the object recognition device comprises a contour extraction unit that extracts a contour of the object in the image, and the recognition process includes setting a smaller contour extraction threshold to be applied to the one image region than a contour extraction threshold to be applied to the other image region, and the contour extraction thresholds are used for recognition of the object. - an image acquisition unit that acquires an image including one image region and another image region; - an optical element including an imaging lens having different angular resolutions; and - a recognition processing unit that performs a recognition process on an object in the image, wherein the other image region has a first image region and a second image region, wherein the first image region and the second image region are regions of the image which are discriminated per an incident angle with respect to the optical axis of the imaging lens, and wherein the first image region is a region in which the incident angle with respect to the optical axis of the imaging lens is small; the second image region is a region in which the incident angle with respect to the optical axis of the imaging lens is large; and wherein the one image region has a third image region located between the first image region and the second image region, wherein the third image region has a lower angular resolution compared with the first image region and the second image region; and wherein the object recognition device comprises a contour extraction unit that extracts a contour of the object in the image, and the recognition process includes setting a smaller contour extraction threshold to be applied to the one image region than a contour extraction threshold to be applied to the other image region, and the contour extraction thresholds are used for recognition of the object. the other image region has a first image region and a second image region, wherein the first image region and the second image region are regions of the image which are discriminated per an incident angle with respect to the optical axis of the imaging lens, and wherein the first image region is a region in which the incident angle with respect to the optical axis of the imaging lens is small; the second image region is a region in which the incident angle with respect to the optical axis of the imaging lens is large; and wherein the one image region has a third image region located between the first image region and the second image region, wherein the third image region has a lower angular resolution compared with the first image region and the second image region; and wherein the object recognition device comprises a contour extraction unit that extracts a contour of the object in the image, and the recognition process includes setting a smaller contour extraction threshold to be applied to the one image region than a contour extraction threshold to be applied to the other image region, and the contour extraction thresholds are used for recognition of the object.