1. An object recognition device that recognizes an object on the basis of a captured image, comprising: a function table acquiring unit that acquires a function table indicating a relationship between the class and position information of the object and the probability of appearance of the object for a plurality of image patterns indicating a portion of the object; a pattern appearance frequency calculating unit that calculates the frequency of appearance of each image pattern for the class of the object, using the function table acquired by the function table acquiring unit; a pattern selection unit that compares the captured image with the plurality of image patterns and selects the image pattern corresponding to the captured image; a class extracting unit that extracts the class at which the frequency of appearance of the image pattern selected by the pattern selection unit is equal to or greater than a predetermined value; a voting unit that votes the position information of the image pattern selected by the pattern selection unit for the class extracted by the class extracting unit; and a recognition unit that recognizes the object on the basis of the voting result of the voting unit.