1. An object recognition device for recognition of an object that exists in an image, the device comprising: an edge image creator configured to create an edge image from a target image including an object as a target of object recognition; a local feature extractor configured to extract a feature of each edge point on an edge image created by the edge image creator, and determine a base point and a support point from edge points in a local area defined for the edge image, the base point being a point to which attention should be paid in the local area, the support point being a point supporting the base point; a feature matching unit configured to implement, with reference to a memory, feature matching of a base point and a support point that each have a feature extracted by the local feature extractor to thereby acquire a matching pair, the memory storing therein a base point, a feature of the base point, a support point that supports the base point, a feature of the support point, and a geometric positional relationship between the base point and the support point, the base point being a point to which attention should be paid in a vicinity of a local area defined for an edge image created in advance depending on the object, the base point being determined from edge points in the vicinity of the local area; and a matching pair determiner configured to determine final matching pairs by employing matching pairs having a highest matching cost among matching pairs obtained by the feature matching unit, wherein an object in a target image is identified based on matching pairs determined by the matching pair determiner.