IMAGE PROCESSING DEVICE

In the present invention, even when there is a vertical shift in a stereo image, a solid object can be accurately detected from the stereo image. A solid object estimating unit 121 performs, on the basis of a parallax image calculated from a parallax calculating unit 120, the estimation of a solid object for determining whether an object included in a criterion image and a reference image is a solid object or not. When the object is estimated as a solid object by the solid object estimating unit 121, an object region vertical shift detecting unit 122 detects, by using a criterion image and a reference image in the same frame for which the estimation of a solid object has been performed, a vertical shift between an object region including an object in the criterion image and an object region including the object in the reference image. An object region solid object determining unit 123 calculates the parallax of the object on the basis of the vertical shift, detected by the object region vertical shift detection unit 122, between the object region in the criterion image and the object region in the reference image, and determines whether the object is a solid object.