IMAGE PROCESSING DEVICE AND IMAGE PROCESSING METHOD

Provided is an image processing device that acquires a stereo image captured by a plurality of cameras each including a wide-angle lens, divides viewing angles of the cameras with reference to optical axes corrected to be parallel to each other, generates a plurality of base images in each of which a range of each divided viewing angle is reflected and a plurality of reference images on a basis of wide-angle images constituting the stereo image, applies projective transformation to the reference images, and calculates a distance to a predetermined object on a basis of corresponding image pairs of the plurality of base images and the plurality of reference images after projective transformation.