CONTROL DEVICE AND CONTROL METHOD FOR MOBILE OBJECT, STORAGE MEDIUM, AND VEHICLE

A control device for a mobile object including one or more imaging devices, the control device includes an image acquisition unit configured to acquire an image of an external environment of the mobile object from the one or more imaging devices, a correction unit configured to perform distortion reduction processing for reducing distortion of an image for each of one or more regions included in an image acquired from the one or more imaging devices, and a recognition unit configured to recognize the external environment of the mobile object based on an image on which the distortion reduction processing has been performed. The correction unit is configured to determine the one or more regions to be a target of the distortion reduction processing in accordance with a predetermined rule according to a moving scene of the mobile object.