Patent claim: A system 1 comprising an image processing device 100 and a robot 300 configured to operate following an output from the image processing device 100 wherein the image processing device 100 comprises a storage unit 160 configured to hold model information 162 comprising information indicating a plurality of feature points of a detection object a correspondencerelationship determination unit 154 configured to extract a plurality of feature points comprised in an input image as a twodimensional image or a threedimensional image and configured to determine a correspondence relationship between an extracted plurality of feature points and a plurality of feature points of the model information 162 a position estimating unit 156 configured to estimate 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 thedetection object and a command generation unit 158 configured to generate a command to the robot 300 based on the estimated second position the one or plurality of first positions being comprised in a point a line or a region.

Related passage: The abovecited aims are obtained by a segmentation method based on the characteristics for segmenting a plurality of duplicate articles arranged loosely as set out in claim 1 which comprises stages of acquiring an image of a sample article calculating keypoints of the image of a sample article and corresponding descriptors in order to obtain a respective plurality of keypointdescriptor pairs of the image of a sample article defining an identifying figure on the image of a sample article in order to estimate a shape of the sample article illustrated in the image of a sample article acquiring a first image of a plurality of duplicate articles calculating the keypoints of the first image of the plurality of duplicate articles and the corresponding descriptors in order to obtain a respective plurality of keypointdescriptor pairs of the first image of the plurality of duplicate articles performing a matching of the keypointdescriptor pairs of the image of a sample article with the keypointdescriptor pairs of the first image of a plurality of duplicate articles in order to define similarity correspondences between keypointdescriptor pairs of the image of a sample article and the keypointdescriptor pairs of the first image of a plurality of duplicate articles acquiring a relative position and a relative orientation of the identifying figure with respect to a first keypointdescriptor pair of the image of a sample article having a match with a second keypointdescriptor pair of the first image of a plurality of duplicate articles defining in the first image of a plurality of duplicate articles an identifying figure of projection having a shape and dimension which are comparable or identical to those of the identifying figure which identifying figure of projection has a relative position and a relative orientation with respect to the second keypointdescriptor pair of the first image of a plurality of duplicate articles which are identical respectively to the relative position and to the relative orientation assumed by the identifying figure arranged in the image of a sample articlewith respect to the first keypointdescriptor pair of the image of a sample article applying the two preceding stages to a plurality of keypointdescriptor pairs of the image of a sample article having a match with a keypointdescriptor pair of the first image of a plurality of duplicate articles collecting together identifying figures of projection having between them a predetermined degree of superposing defining a representative figure for each group of identifying figures of projection which is formed by a minimum predetermined number of identifying figures of projection which representative figure has a same shape and dimension as an identifying figure of projection and is selected in order to estimate a position of a corresponding article illustrated in the first image of a plurality of duplicate article.