An object recognition device includes: a storage unit that stores image information corresponding to respective shapes of a plurality of objects, and a control unit that groups a plurality of signals detected by a distance detection unit to acquire position information of at least one of the plurality of objects, sets a first object of the plurality of objects based on the acquired position information, sets an interference area based on position information of the first object, acquires position information and image information of a second object of the plurality of objects located in the interference area, and corrects the acquired position information of the second object based on the image information of the second object and the image information stored in the storage unit.