An object recognition device includes a camera (113) and a radar (114), detects an estimated plane region estimated to be a plane from an image from the camera (113) (S202), and calculates a plane equation for the estimated plane region (S207). The object recognition device interpolates and estimates distance data within the estimated plane region based on the plane equation and the measured distance data from the radar (S210) and obtains the distance to an object by using the distance data. Accordingly, it is possible to obtain dense distance data throughout the estimated plane region and to detect the distance to small objects and distant objects.