PROBLEM TO BE SOLVED: To provide an image processing device, an endoscope apparatus, an image processing method, etc. capable of adaptively detecting an uneven part according to an observation state.SOLUTION: An image processing device includes: an image acquisition part 310 for acquiring a picked-up image including an image of a subject picked up by an imaging part a distance information acquisition part 380 for acquiring distance information based on the distance from the imaging part to the subject during the imaging a known characteristic information selection part 390 for selecting known characteristic information that is the information indicating known characteristics related to a structure of the subject according to a movement amount, and outputting the selected known characteristic information as selected known characteristic information and an unevenness information extraction part 340 for extracting the information indicating an uneven part of the subject that coincides with the characteristics specified by the selected known characteristic information from the distance information as extracted unevenness information.COPYRIGHT: (C)2015,JPO&INPIT【課題】観察状態に応じて適応的に凹凸部を検出することが可能な画像処理装置、内視鏡装置及び画像処理方法等を提供すること。【解決手段】画像処理装置は、撮像部により撮像された、被写体の像を含む撮像画像を取得する画像取得部310と、撮像の際の撮像部から被写体までの距離に基づく距離情報を取得する距離情報取得部380と、被写体の構造に関する既知の特性を表す情報である既知特性情報を、動き量に応じて選定し、その選定した既知特性情報を選定既知特性情報として出力する既知特性情報選定部390と、その選定既知特性情報により特定される特性と合致する被写体の凹凸部を表す情報を、抽出凹凸情報として距離情報から抽出する凹凸情報抽出部340と、を含む。【選択図】図1
