Image processing device, system, image processing method, and image processing program

摘要

There has been desired a method capable of properly determining a position at which the work is to be given to a detection object, even when the detection object can generate a shape different from a shape registered as model information. An image processing device (100) includes: a storage unit (160) that holds model information (162) including information indicating a plurality of feature points of a detection object; a correspondence-relationship determination unit (154) that extracts a plurality of feature points included in an input image as a two-dimensional image or a three-dimensional image and that determines a correspondence relationship between an extracted plurality of feature points and a plurality of feature points of the model information (162); and a position estimating unit (156) that estimates, based on the correspondence relationship, one or a plurality of second positions of the input image corresponding to one or a plurality of first positions set relatively to the detection object. The one or plurality of first positions is included in a point, a line, or a region.