Embodiments of the invention relate to detecting the number, position, and orientation of objects when a plurality of recognition target objects are present in a search target image. Dictionary image data is provided, including a recognition target pattern, a plurality of feature points of the recognition target pattern, and an offset (Ox, Oy) from the coordinates at the center of the image to the coordinates of the feature point. The sizes (Rt) and directions (θt) of feature vectors for the coordinates (Tx, Ty) of a plurality of feature points in the target image are also provided. The coordinates (Fx, Fy) of a virtual center point in the target image is derived. Additional virtual center points within a radius of the coordinates (Fx, Fy) is counted. Presence of a recognition target object is recognized near the virtual center point coordinates of the search target image.