An image processing device includes an image acquisition section (390) that acquires a captured image that includes an image of an object, the captured image being an image captured by an imaging section (200), a distance information acquisition section (340) that acquires distance information based on the distance from the imaging section (200) to the object when the imaging section (200) captured the captured image, a known characteristic information acquisition section (350) that acquires known characteristic information, the known characteristic information being information that represents known characteristics relating to the structure of the object, and a concavity-convexity determination section (310) that performs a concavity-convexity determination process that specifies an concavity-convexity part of the object that agrees with the characteristics specified by the known characteristic information, from the object captured within the captured image, based on the distance information and the known characteristic information.
