1. An object recognition device comprising: a model image processing unit processing a model image; a processing-target image processing unit processing a processing-target image; a matching unit matching the processing results in the model image processing unit and the processing-target image processing unit; and a determination unit determining the processing result in the matching unit so as to determine presence/absence of a model object in the processing-target image, wherein the model image processing unit has a feature point set decision unit setting a feature point set including a base point and a support point supporting the base point in the model image, and detecting the feature quantity of the feature point set, the processing-target image processing unit has a feature point setting unit setting a feature point in the processing-target image and detecting the feature quantity of the feature point, the matching unit compares the feature quantity of the feature point set in the model image with the feature quantity of the feature point in the processing-target image so as to detect the feature point corresponding to the feature point set, and executes the matching, the model image processing unit has a segmentation unit segmenting the model image, and the feature point set decision unit sets the base point and the corresponding support point in the same segment for each segment of the model image so as to set the feature point set.