An image processing device (1) includes an exposure control unit (102), a Δ pose estimating unit (109), and an integration unit (111). The exposure control unit (102) controls exposure by sequentially performing positive correction of increasing exposure from proper exposure or negative correction of decreasing exposure from the proper exposure as the exposure at a time of acquiring each of a plurality of image frames in time series in a predetermined execution order. The Δ pose estimating unit (109) estimates first position pose of the image processing device based on matching between image frames subjected to the positive correction and second position pose of the image processing device based on matching between image frames subjected to the negative correction. The integration unit (111) integrates the first position pose and the second position pose.