A vehicle-mounted image processing device recognizing a target object around a host vehicle, the vehicle-mounted image processing device comprising: an image acquisition unit which acquires an image (1011A - 1014A) around the host vehicle captured by an imaging unit (1001 - 1004); a feature amount extraction unit which extracts, from the image (1011A - 1014A) around the host vehicle acquired by the image acquisition unit, a feature amount of the target object and coordinate information of the feature amount with respect to the host vehicle when it is assumed that a feature having the feature amount is on a road surface; a three-dimensional object information storage unit which acquires and stores coordinate information of a three-dimensional object around the host vehicle with respect to the host vehicle; a feature amount distinguishing unit which distinguishes whether the feature amount is a feature amount of a feature on the road surface or a feature amount of a feature on the three-dimensional object by using a positional relationship between the coordinate information of the feature amount sensed by the feature amount extraction unit with respect to the host vehicle and the coordinate information of the three-dimensional object stored in the three-dimensional object information storage unit with respect to the host vehicle; and a target object recognition unit which recognizes the target object by using the feature amount distinguished as a feature amount of a feature on the road surface by the feature amount distinguishing unit, wherein the feature amount extraction unit senses a line segment as a feature amount, and calculates coordinate information of a start point and an end point of the line segment with respect to the host vehicle, as the coordinate information of the feature amount with respect to the host vehicle, and the feature amount distinguishing unit distinguishes whether the feature amount is a feature amount of a feature on the road surface or a feature amount of a feature on the three-dimensional object by using a positional relationship between the coordinate information of the start point and the end point of the line segment with respect to the host vehicle and the coordinate information of the three-dimensional object with respect to the host vehicle, and characterised in that the feature amount distinguishing unit calculates a triangle including a mounting position of the imaging unit (1001 - 1004) at which the feature amount is extracted, the start point of the line segment, and the end point of the line segment, determines whether or not the coordinate information of the three-dimensional object with respect to the host vehicle is present inside the triangle, determines that the feature amount is a feature amount of a feature on the road surface when it is determined that the coordinate information of the three-dimensional object with respect to the host vehicle is not present inside the triangle, and determines that the feature amount is a feature amount of a feature on the three-dimensional object when it is determined that the coordinate information of the three-dimensional object with respect to the host vehicle is present inside the triangle. an image acquisition unit which acquires an image (1011A - 1014A) around the host vehicle captured by an imaging unit (1001 - 1004); a feature amount extraction unit which extracts, from the image (1011A - 1014A) around the host vehicle acquired by the image acquisition unit, a feature amount of the target object and coordinate information of the feature amount with respect to the host vehicle when it is assumed that a feature having the feature amount is on a road surface; a three-dimensional object information storage unit which acquires and stores coordinate information of a three-dimensional object around the host vehicle with respect to the host vehicle; a feature amount distinguishing unit which distinguishes whether the feature amount is a feature amount of a feature on the road surface or a feature amount of a feature on the three-dimensional object by using a positional relationship between the coordinate information of the feature amount sensed by the feature amount extraction unit with respect to the host vehicle and the coordinate information of the three-dimensional object stored in the three-dimensional object information storage unit with respect to the host vehicle; and a target object recognition unit which recognizes the target object by using the feature amount distinguished as a feature amount of a feature on the road surface by the feature amount distinguishing unit, wherein the feature amount extraction unit senses a line segment as a feature amount, and calculates coordinate information of a start point and an end point of the line segment with respect to the host vehicle, as the coordinate information of the feature amount with respect to the host vehicle, and the feature amount distinguishing unit distinguishes whether the feature amount is a feature amount of a feature on the road surface or a feature amount of a feature on the three-dimensional object by using a positional relationship between the coordinate information of the start point and the end point of the line segment with respect to the host vehicle and the coordinate information of the three-dimensional object with respect to the host vehicle,