Patent claim: The image processing device 100 according to claim 1 or 2 wherein the correspondencerelationship determination unit 154 is configured to relate as one to one each feature point of the model information 162 and each feature point extracted from the input image and is also configured to determine from mutuallyrelated features a function indicating a correspondence relationship between a set of a plurality of feature points of the model information 162 and a set of a plurality of feature points extracted from the input image.

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.