IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, AND PROGRAM

Provided are an image processing device, an image processing method, and a program for recognizing an object in a three-dimensional map, which do not require collecting learning data of the three-dimensional map and can perform high-speed processing with a small load. The image processing device includes an image acquiring section that sequentially acquires a two-dimensional input image for each frame; an object type recognition executing section that attaches, to each of pixels of the input image acquired for each frame, a label indicating a type of an object represented by the pixels; and a labeling section that executes three-dimensional position recognition of a subject represented in the input image to create a three-dimensional map, based on the input image sequentially input, and attaches, to each voxel included in the three-dimensional map, the label of the pixel corresponding to the voxel.