Patent ID: 7970204

Claim:
An image processing device comprising: a plurality of image sensors that capture, from respectively different positions, a same object of sensing which carries out an instructing action, and that output image information expressing images in which the object of sensing is included; a position information sensing section which, by carrying out stereo matching on the plurality of image information outputted from the plurality of image sensors, using, as an object, two-dimensional regions, which are regions that are narrower than a common region included commonly in each of the plurality of images expressed by the plurality of image information, and which correspond to a search space which is a three-dimensional space set in advance as a space in which the instructing action is to be carried out in order to issue an instruction, senses position information expressing matching positions, which are positions of the object of sensing in the three-dimensional space at points corresponding to one another in the two-dimensional regions; and a specific position sensing section that senses, among the matching positions expressed by the position information sensed by the position information sensing section, a specific position which is a matching position that matches predetermined conditions, wherein: the specific position that is sensed by the specific position sensing section is a position within a sensing space included in the search space, the sensing space is a space within a rectangular parallelepiped, and the predetermined conditions are that the position information sensed at the position information sensing section exists within the rectangular parallelepiped, and that, in a case in which the matching position does not exist on one surface of two predetermined, opposing surfaces among surfaces of the rectangular parallelepiped, but exists within a predetermined distance from another surface, the matching position which is nearest to the one surface is made to be the specific position.