IMAGE PROCESSING DEVICE THAT CAN MEASURE DISTANCE TO OBJECT, MOVABLE APPARATUS, IMAGE PROCESSING METHOD, AND STORAGE MEDIUM

An image processing device includes an image acquisition unit that acquires an image obtained by capturing an object around a movable apparatus, a distance information acquisition unit that acquires distance information indicating a distance to the object around the movable apparatus, a first overhead view image generation unit that generates a first overhead view image from a plurality of the captured images by using the distance information, a second overhead view image generation unit that generates a second overhead view image from a plurality of the captured images, a movement state detection unit that detects a state of movement of at least one of the movable apparatus and the object, and a control unit that causes the first overhead view image generation unit or the second overhead view image generation unit to generate the first overhead view image or the second overhead view image according to the state of movement.