An object recognition apparatus includes: a memory; and a processor coupled to the memory and configured to execute an acquisition process that includes acquiring RGB-depth (D) image data on a target object in which an object is stored, the RGB-D image data being acquired by an RGB-D camera; execute a presumption process that includes presuming a frontmost plane of the target object from the acquired RGB-D image data; execute a sorting process that includes sorting features of the target object at a position specified by the presumed frontmost plane from among features extracted based on the RGB-D image data; and execute a computing process that includes computing a position and an orientation of the target object by performing matching between the RGB-D image data and a template of the target object using the sorted features.