Recognition device, model generation device, and work system

A recognition device comprising:

• at least one of (i) a circuit and (ii) a processor with a memory storing computer program code executed by the processor, the at least one of the circuit and the processor being configured to cause the recognition device to:
• detect at least three feature regions of a target from captured image data of the target;
• calculate at least three extracted representative points from the at least three feature regions and the captured image data;
• extract extracted label information identifying each of the at least three extracted representative points;
• and
• estimate a position and orientation of the target based on the at least three extracted representative points and at least three reference representative points, as an estimated result, wherein
• the at least three reference representative points have a predefined correct positional relationship with each other and have reference label information identifying each of the at least three reference representative points, and
• the at least one of the circuit and the processor is configured to cause the recognition device to estimate the position and orientation of the target by matching the at least three extracted representative points with the at least three reference representative points based on matching between the extracted label information of each of the at least three extracted representative points and the reference label information of each of the at least three reference representative points.