1. An image processing device comprising: circuitry configured to: recognize an environment recognition matrix representing a position and an attitude of an environment appearing in an image with respect to a position and an attitude of a terminal that has captured the image; calculate an inverse matrix of the environment recognition matrix; and control manipulation of a virtual object arranged in the environment appearing in the image captured by the terminal in a three-dimensional manipulation amount according to a difference between a first position or a first attitude of the terminal that has captured the image based on the inverse matrix of the environment recognition matrix recognized at a first time point and a second position or a second attitude of the terminal that has captured the image based on the inverse matrix of the environment recognition matrix recognized at a succeeding second time point.