Image processing device and robot control device

A robot control device including an image processing device that processes a captured image of an object, the image processing device comprising:

• a first exposure time determination unit that determines a minimum value of an exposure time for image-capture of the object;
• a second exposure time determination unit that determines a maximum value of the exposure time for image-capture of the object;
• an image-capture condition determination unit that determines the exposure time for image-capture of the object and the number of times of image-capture of the object based on an exposure time range including the determined minimum value of the exposure time and the determined maximum value of the exposure time;
• and
• a synthetic image generation unit that combines a plurality of object images, which have been captured with the determined exposure time and the determined number of times of image-capture, into a synthetic image.

An image processing device for processing a captured image of an object, comprising:

• a first exposure time determination unit that determines a minimum value of an optical parameter for image-capture of the object;
• a second exposure time determination unit that determines a maximum value of the optical parameter for image-capture of the object;
• an image-capture condition determination unit that determines the optical parameter for image-capture of the object and the number of times of image-capture for the object based on an optical parameter range including the determined minimum value of the optical parameter and the determined maximum value of the optical parameter;
• and
• a synthetic image generation unit that combines a plurality of object images, which have been captured with the determined optical parameter and the determined number of times of image-capture, into a synthetic image.