1. A vehicle external environment recognition device, comprising: a three-dimensional position deriving module that derives three-dimensional positions of subject parts in a real space based on an image obtained by imaging a detection area; an object identifying module that groups the subject parts of which differences in the three-dimensional positions are within a predetermined range to identify an object; a positional point deriving module that derives a positional point based on positional information related to the position of the object; an appearance point deriving module that derives an appearance point based on appearance information related to the appearance of the object; and a pedestrian identifying module that identifies the object to be a pedestrian when a pedestrian point that is obtained by at least adding the positional point to the appearance point equals to or greater than a predetermined threshold.