An image processing device includes an image acquisition section (310) that acquires a captured image that includes an image of an object, the captured image being an image captured by an imaging section (200), a distance information acquisition section (350) that acquires distance information based on the distance from the imaging section (200) to the object when the imaging section (200) captured the captured image, an irregularity information acquisition section (320) that acquires extracted irregularity information from the acquired distance information, the extracted irregularity information being information that represents irregular parts extracted from the object, and an enhancement section (333) that performs an enhancement process on an enhancement target, the enhancement target being an irregular part that is represented by the extracted irregularity information and agrees with characteristics specified by known characteristic information, the known characteristic information being information that represents known characteristics relating to the structure of the object.
