A three-dimensional object recognition apparatus according to the invention includes: an omnidirectional sensor that measures surrounding objects in all directions, and generates positional information capable of specifying positions of the objects as a result of the measurement; a three-dimensional measurement device that measures an object within a certain measurement range among the surrounding objects, and generates three-dimensional shape information capable of specifying a three-dimensional shape of the object as a result of the measurement; and a control unit that updates a shape to be recognized as the three-dimensional shape of the object based on the three-dimensional shape information generated by the three-dimensional measurement device when the object is within the measurement range of the three-dimensional measurement device. The control unit tracks the object based on the positional information generated by the omnidirectional sensor, even after the object has moved out of the measurement range of the three-dimensional measurement device.
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