| CPC G06T 15/205 (2013.01) [G06T 7/70 (2017.01)] | 15 Claims |
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1. An image processing device comprising:
a memory; and
processing circuitry coupled to the memory and configured to:
sequentially acquire a two-dimensional captured image;
attach, to each pixel of the sequentially acquired captured image, a label indicating a type of an object represented by each pixel, the label identifying the type of the object as being one of a first category and a second category;
divide the sequentially acquired captured image into a plurality of regions; and
create a three-dimensional map by executing three-dimensional position recognition for regions of the sequentially acquired captured image that include only pixels with labels indicating the type of the object as being of the second category,
wherein three-dimensional position recognition is not performed on regions of the sequentially acquired captured image including pixels with labels indicating the type of the object as being of the first category, and
the processing circuitry is further configured to
create a two-dimensional image by rendering the three-dimensional map with an image capturing position of the sequentially acquired captured image as a viewpoint; and
combine pixels of the captured image whose three-dimensional position recognition is restricted, with the two-dimensional image.
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