An object recognition method performed by an object recognition system includes: setting a first binarization area in a portion of a binarization target area of an image, and a first coefficient calculation area including the first binarization area and having an area wider than the first binarization area by a predetermined ratio; determining a first binarization coefficient on the basis of pixel values included in the first coefficient calculation area; performing binarization on the first binarization area through the determined first binarization coefficient; setting a second binarization area in a portion other than the first binarization area, and a second coefficient calculation area including the second binarization area and having an area wider than the second binarization area; determining a second binarization coefficient on the basis of pixel values included in the second coefficient calculation area; and performing binarization on the second binarization area through the determined second binarization coefficient.