1. An object recognition apparatus processing images, as acquired by an imaging means mounted on a moving object, in a first image plane and a second image plane having different points of view, and recognizing an object in the vicinity of the moving object, the object recognition apparatus comprising: a feature point detection means detecting feature points of an object image in the first image plane and the second image plane; a fundamental matrix determination means determining a fundamental matrix expressing a geometrically corresponding relationship, based on translational camera movement, between the first image plane and the second image plane, from not less than two pairs of feature points corresponding between the first image plane and the second image plane, on the basis of calculation of epipoles through auto-epipolar property; and a three-dimensional position calculation means calculating a three-dimensional position of the object based on the coordinates of the object in the first image plane and the second image plane and the determined fundamental matrix.