Image processing device

Abstract

Provided is an image processing device that, by performing highly accurate correction of a parallax error caused by a vertical offset between left and right cameras, makes it possible to accurately distinguish between a control object such as an object dropped on a road surface and road surface paint, and accurately detect a control object having a low step. The image processing device includes a specific region extraction unit that extracts a specific region on a road surface from a plurality of images captured by each of a plurality of in-vehicle cameras; a road surface parameter estimation unit that estimates a road surface structure represented by a road surface parameter, from a road surface portion other than the specific region, the road surface portion being a road surface in the image; a specific region parallax estimation unit that obtains, from the road surface structure, an ideal parallax to be obtained in the specific region; a parallax image generation unit that obtains a parallax from the plurality of images; and a vertical offset calculation unit that obtains a vertical offset amount of the plurality of images by using an actual parallax of the specific region, the ideal parallax of the specific region, and arrangement information in the image of the specific region.