In an object recognition apparatus, a storage unit stores a table in that a plurality of feature amounts are associated with each object having feature points of respective feature amounts. An object region detection unit detects object regions of a plurality of objects from an input image. A feature amount extraction unit extracts feature amounts of feature points from the input image. A refining unit refers to the table, and refines from all objects of recognition subjects to object candidates corresponding to the object regions based on feature amounts of feature points belonging to the object regions. A matching unit recognizes the plurality of objects by matching the feature points belonging to each of the object regions with feature points for each of the object candidates, and outputs a recognition result.