1. A vehicle-mounted recognition device which recognizes a target from any one of a pair of images simultaneously captured by a pair of cameras, comprising: a processor that is configured to measure a disparity using the pair of images; estimate a current position and a current range of the target as a predicted position and a predicted range from a past position and a past range of the target; determine whether concealment of the target occurs in at least one of the pair of images based on a measurement result of the processor and an estimation result of the processor; select a visible image, from which the target is recognizable, from the pair of images based on a determination result of the processor; and recognize the target using the selected visible image.