A lane recognition apparatus that recognizes a lane from an input image sequence captured from a visual sensor mounted on a vehicle at a fixed time interval, includes a time series smoothing part for generating a smoothed feature image based on a feature image extracted from the input image sequence so that a dotted line lane boundary describes a linear locus over time, a gradient image generation part for generating a gradient image by estimating a feature value gradient at each pixel position of the smoothed feature image, and a Hough transform part for performing Hough transform on the gradient image and detecting lines of edges in the smoothed feature image.