Abstract: An electrophotographic photoreceptor includes a conductive substrate, an undercoat layer disposed on the conductive substrate, and a photosensitive layer disposed on the undercoat layer, in which an integrated value of an intensity in a period range of 0.01 mm or greater and 0.1 mm or less in a power spectrum obtained by performing fast Fourier transform on a roughness curve of an outer peripheral surface of the conductive substrate in an axial direction is 0.02 or greater and 0.10 or less, and the undercoat layer has a layer thickness of 10 ?m or greater.

Abstract: An object recognition device includes: a point cloud measurement unit configured to measure the positions of point clouds included in an object and the distance to each of the point clouds; a noise adding unit configured to add a noise around the measured point clouds according to the distance to each of the point clouds; a noise count memory unit configured to store the total number and position of noises added by the noise adding unit; and a recognition unit configured to recognize the object based on the point clouds and the noises added to the point clouds.