1. An image processing apparatus comprising: an image-capturing module configured to capture an image; a first object region detection module configured to detect a first object region from the image captured by the image-capturing module, based on a shape of a first object; a first color information extraction module configured to extract first color information of an image of the first object region, and to set the first color information as reference color data a second object region detection module configured to detect candidates of a second object region of an object of recognition from the image captured by the image-capturing module, based on a shape of a second object which differs from a first object; a second color information extraction module configured to extract second color information of an image of the second object region; a filtering module configured to compare the reference color data set by the first color information extraction module and the second color information extracted by the second color information extraction module, with respect to each of the candidates of the second object region detected by the second object region detection module, and to reject the candidates of the second object region each having color information which is not considered to be similar to color information of the reference color data, based on a comparison result; and an output module configured to output any one of the candidates of the second object region not rejected by the filtering module, which has color information closest to a color represented by the color reference data, as an object of recognition.