An image processing device comprising: image input units which input a first image and a second image captured by a pair of imaging units (100a, 100b) constituting a stereo camera at each predetermined frame rate, respectively; a geometric correction unit which performs geometric correction of the first image and the second image by using preset geometric correction information; a parallax calculating unit which calculates a parallax image based on the first image and the second image that are geometrically corrected by the geometric correction unit; a solid object estimating unit which performs solid object estimation for estimating whether or not an object included in the first image and the second image is a solid object on a basis of the parallax image calculated by the parallax calculating unit; characterized in that the device further comprises: a vertical shift detecting unit which uses the first image and the second image of the same frame as that for which the solid object estimation has been performed to detect a vertical shift between a first region including the object in the first image and a second region including the object in the second image in a case where the object is estimated as a solid object by the solid object estimating unit; and a solid object determining unit which calculates parallax of the object on a basis of the vertical shift between the first region and the second region detected by the vertical shift detecting unit, and determines whether or not the object is a solid object. image input units which input a first image and a second image captured by a pair of imaging units (100a, 100b) constituting a stereo camera at each predetermined frame rate, respectively; a geometric correction unit which performs geometric correction of the first image and the second image by using preset geometric correction information; a parallax calculating unit which calculates a parallax image based on the first image and the second image that are geometrically corrected by the geometric correction unit; a solid object estimating unit which performs solid object estimation for estimating whether or not an object included in the first image and the second image is a solid object on a basis of the parallax image calculated by the parallax calculating unit; characterized in that the device further comprises: a vertical shift detecting unit which uses the first image and the second image of the same frame as that for which the solid object estimation has been performed to detect a vertical shift between a first region including the object in the first image and a second region including the object in the second image in a case where the object is estimated as a solid object by the solid object estimating unit; and a solid object determining unit which calculates parallax of the object on a basis of the vertical shift between the first region and the second region detected by the vertical shift detecting unit, and determines whether or not the object is a solid object. a vertical shift detecting unit which uses the first image and the second image of the same frame as that for which the solid object estimation has been performed to detect a vertical shift between a first region including the object in the first image and a second region including the object in the second image in a case where the object is estimated as a solid object by the solid object estimating unit; and a solid object determining unit which calculates parallax of the object on a basis of the vertical shift between the first region and the second region detected by the vertical shift detecting unit, and determines whether or not the object is a solid object.