An image processing device includes an image acquisition section, a distance information acquisition section, a concavity-convexity information acquisition section, a determination section that determines whether or not to exclude or reduce extracted concavity-convexity information corresponding to each given area of a captured image, and a concavity-convexity information correction section that excludes the extracted concavity-convexity information corresponding to the given area for which the determination section has determined to exclude the extracted concavity-convexity information, or reduces the degree of concavities and convexities represented by the extracted concavity-convexity information corresponding to the given area for which the determination section has determined to reduce the extracted concavity-convexity information. The concavity-convexity information acquisition section excludes a structure that is more global than a desired concavity-convexity part from the distance information based on known characteristic information to extract information about the desired concavity-convexity part as the extracted concavity-convexity information.
