An image processing device for augmented reality comprising: a storage unit configured to store map point information including a first map point group and a second map point group, the first map point group having one or more of first map points indicating a three-dimensional position of an object measured by a distance sensor, the second map point group having one or more of second map points indicating a three-dimensional position of the object determined by stereo capturing based on a plurality of captured images; an acquisition unit configured to acquire a new captured image including the object; a matching unit configured to: compare a first projection point group with a feature point group extracted from the new captured image, the first projection point group having one or more of first projection points obtained by projecting the first map point group on the new captured image, create pairs of a feature point in the feature point group and a first projection point that is similar to the feature point, when the number of the pairs is less than or equal to a threshold, compare a second projection point group with the feature point group, the second projection point group having one or more of second projection points obtained by projecting the second map point group on the new captured image, and create other pairs of the feature point and a second projection point that is similar to the feature point; and a position and attitude estimation unit configured to, based on the pairs, the other pairs, and the map point information, estimate a position and attitude of a camera that has captured the new captured image. a storage unit configured to store map point information including a first map point group and a second map point group, the first map point group having one or more of first map points indicating a three-dimensional position of an object measured by a distance sensor, the second map point group having one or more of second map points indicating a three-dimensional position of the object determined by stereo capturing based on a plurality of captured images; an acquisition unit configured to acquire a new captured image including the object; a matching unit configured to: compare a first projection point group with a feature point group extracted from the new captured image, the first projection point group having one or more of first projection points obtained by projecting the first map point group on the new captured image, create pairs of a feature point in the feature point group and a first projection point that is similar to the feature point, when the number of the pairs is less than or equal to a threshold, compare a second projection point group with the feature point group, the second projection point group having one or more of second projection points obtained by projecting the second map point group on the new captured image, and create other pairs of the feature point and a second projection point that is similar to the feature point; and compare a first projection point group with a feature point group extracted from the new captured image, the first projection point group having one or more of first projection points obtained by projecting the first map point group on the new captured image, create pairs of a feature point in the feature point group and a first projection point that is similar to the feature point, when the number of the pairs is less than or equal to a threshold, compare a second projection point group with the feature point group, the second projection point group having one or more of second projection points obtained by projecting the second map point group on the new captured image, and create other pairs of the feature point and a second projection point that is similar to the feature point; and a position and attitude estimation unit configured to, based on the pairs, the other pairs, and the map point information, estimate a position and attitude of a camera that has captured the new captured image.