VEHICLE PERIPHERY MONITORING DEVICE

Disclosed is a vehicle periphery monitoring device comprising: a parallax calculating unit (22) which extracts a first image section that contains a target object in real space from a first image imaged by a first imaging unit at a predetermined time and extracts a second image section correlated to the first image section from a second image imaged by a second imaging unit at the predetermined time, and then calculates the parallax between the first image section and the second image section; a parallax gradient calculating unit (23) for calculating a parallax gradient based on a time series calculation of the parallax of the identical target object in real space by the parallax calculating unit (22); a velocity sensor (4) for detecting the velocity of the vehicle; and a first distance calculating unit (24) for calculating the distance from the vehicle to the target object on the basis of the parallax gradient and the velocity of the vehicle.