OBJECT RECOGNITION DEVICE

An object recognition device (3) includes: a processor (4) that inputs point cloud sensor data sensed by a sensor (externality recognition sensor (1)) to a software pipeline formed of a plurality of stages and executes object recognition processing; and a memory. The processor (4) has a plurality of processing units (5) that executes processing constituting the object recognition processing allocated to each of stages A to C. The memory has a plurality of task queue regions (task queues A to C) that temporarily stores the output data of each of the stages. In a case where the output data of each of the stages is not valid upon input to the subsequent stage, the processor (4) rejects the output data without storing same in the respective task queue regions.