1. An environment recognition system configured to recognize an environment of a device, comprising: a 3D image sensor configured to acquire 3D information of a subject by photographing a marginal environment of the device, a 2D image sensor configured to acquire physical information of the subject by photographing a range overlapped with a photographing range of the 3D image sensor, and an image processing element configured to acquire a position, posture and shape of the subject and the physical information by associating the 3D information of the subject acquired by the 3D image sensor and the physical information of the subject acquired by the 2D image sensor.