Image generation device and operation assistance system

An image generation device configured to acquire captured images from an imaging device installed on a work machine and generate images used to assist an operator in remotely controlling the work machine comprising:

• a machine information acquisition section that acquires machine information representing the state of the work machine from a vehicle sensor installed on the work machine;
• an environment information acquisition section that acquires environment information representing the state of the surroundings of the work machine from a 3D measurement device and an imaging device installed on the work machine and
• an AR image generation section that generates an AR image indicating at least one of the machine information and the environment information by superimposing the AR image on the captured image based on the machine information and the environment information, wherein
• the AR image generation section generates a machine information AR image, which is the AR image representing the machine information to be superimposed on the position corresponding to the part of the work machine indicated by the machine information in the captured image, or generates an environment information AR image, which is the AR image representing the environment information to be superimposed on the position corresponding to the surroundings of the work machine indicated by the environment information in the captured image.