Image processing device and image processing method

A non-transitory computer-readable recording medium having stored therein an image processing program causing a computer to execute a process comprising:

• extracting a plurality of candidate lines that are observed from a position of an imaging device that captures an image of an object from among a plurality of candidate lines included in shape information of the object;
• generating plural pieces of association information indicating a prescribed number of combinations obtained by respectively associating the prescribed number of candidate lines of the observed plurality of candidate lines with the prescribed number of feature lines of a plurality of feature lines detected from the image;
• generating the prescribed number of projection lines by projecting the prescribed number of candidate lines onto the image;
• and
• determining an association result according to respective errors of the plural pieces of association information, each of the respective errors indicating a deviation between a position of each of the prescribed number of projection lines and a position of each of the prescribed number of feature lines.