IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, AND PROGRAM

An accurate subject distance can be calculated on the basis of a camera captured image even in a case where the attachment angle of a camera is deviated. An image captured with a camera having a wide-angle lens is input to perform distortion correction and generate a corrected image. Moreover, the inclination of a vertical object in the real world in the corrected image is calculated. The deviation angle of the camera depression angle of the camera is calculated on the basis of the inclination of the vertical object. An object distance calculation image is generated in consideration of the camera depression angle deviation angle. The distance of an object included in the camera captured image is calculated from the object distance calculation image. In a case where the camera depression angle deviation angle is not equal to or less than a prespecified threshold, the object distance calculation image is generated by using overhead image generation mapping data in consideration of the camera depression angle deviation.