1. An image processing device comprising: a memory configured to store map point information including a first map point group indicating a three-dimensional position of an object measured by a distance sensor and a second map point group indicating a three-dimensional position of the object determined based on a plurality of captured images; and a processor coupled to the memory and configured to: acquire a new captured image including the object, compare a first projection point group with a feature point group extracted from the new captured image, the first projection point group being obtained by projecting the first map point group on the new captured image, create pairs of a feature point in the feature point group and a first projection point that is similar to the feature point, when the number of the pairs is less than or equal to a threshold, compare a second projection point group with the feature point group, the second projection point group being obtained by projecting the second map point group on the new captured image, create other pairs of the feature point and a second projection point that is similar to the feature point, and estimate a position and attitude of a camera that has captured the new captured image based on the pairs, the other pairs, and the map point information.