Image processing method and image capturing apparatus

A robot apparatus comprising:

• a camera that captures an image of an object that crosses a field of view of the camera;
• and
• a robot hand that is capable of moving the object in such a manner that the object is disposed in the field of view of the camera,
• wherein the camera includes an image pickup element, a lens, a computing unit, and a memory,
• wherein the computing unit has functions of acquiring a plurality of image data items obtained by continuously capturing images of the object, which is held by the robot hand, by using an image capturing apparatus, computing image feature values each of which corresponds to positional information and information correlated with illumination conditions of a respective one of the image data items, comparing degrees of matching between the positional information and reference positional information, which is stored in the memory, comparing degrees of matching between the image feature values, which have been computed, and a reference image feature value that is stored in the memory and that corresponds to information correlated with illumination conditions, selecting, from the plurality of image data items, an image that has positional information and illumination conditions that match the reference positional information and the reference image feature value, and outputting the selected image.