OBJECT IDENTIFICATION DEVICE

An object identification device is realized so as to determine whether to perform bicycle identification based on an identification result of a pedestrian identifier, determine a bicycle identification region in consideration of positions and sizes of a pedestrian and a bicycle in three dimensions, and make it possible to improve bicycle detection accuracy without increasing a processing load. An object identification device 101 includes an imaging unit 102, a three-dimensional object detection unit 103, a feature amount extraction unit 104 that extracts a feature amount from an image of an imaged object, and an identification processing unit 105. The identification processing unit 105 includes a pedestrian identification unit 106 and a bicycle identification unit 107. The pedestrian identification unit 106 includes a pedestrian identification region setting unit 108 and a pedestrian identification unit 109 for determining whether an image of the pedestrian identification region is a pedestrian. The bicycle identification unit 107 includes a bicycle identification region setting unit 110 that determines an identification region of a bicycle in a three-dimensional coordinate space when the pedestrian identification unit 109 determines that the image of the pedestrian identification region is a pedestrian, and a bicycle identification unit 111 that determines whether the image of the identification region of the bicycle is a bicycle and identifies the bicycle.