BODY RECOGNITION DEVICE

PROBLEM TO BE SOLVED: To reliably recognize an object which is positioned at the top from the degree of presence of features characteristic of the object. SOLUTION: The presence areas of respective top object candidates are found (51) by converting the position and attitude of an area model so that they match position information and attitude information on a top object candidate registered in a top object candidate table. When plural top object candidates overlap with each other, which top object candidate has an overlapping area and further which top object candidate has an area overlapping with a border are found. The rate of presence of the edge of each top object candidate is found in the overlapping area between top object candidates (52). The real object positioned at the top is larger in the degree of presence in the edge at the border overlapping with another top object candidate than any other top candidate. For the purpose, this degree of presence is checked to recognize the real object positioned at the top (53).