PERIPHERY MONITORING DEVICE

A periphery monitoring device according to an embodiment includes, as an example, a processor that generates a display image obtained by viewing, from a virtual viewpoint, a point of gaze in a virtual space including a model obtained by pasting a captured image obtained by imaging a surrounding area of a vehicle using an imaging unit provided on the vehicle to a three-dimensional plane around the vehicle, and including a three-dimensional vehicle image; and outputs the display image to a display. The processor changes a height of the virtual viewpoint in conjunction with a movement including a directional component in a vehicle width direction of the vehicle image when an instruction is made through an operation input unit to move the virtual viewpoint.