An image processing device comprising: a correction unit configured to correct captured images captured by a plurality of image capturing units , the correction unit using a correction parameter stored in a memory , and being a correction for a relative displacement over time of the plurality of image capturing units with respect to each other; an update unit configured at prescribed intervals to generate an updated correction parameter based on the captured images and update the correction parameter stored in the memory using the generated updated correction parameter ; and a disparity calculator for calculating a disparity image from the corrected images; wherein the device is characterized by further comprising: a referring unit having: a recognition unit configured to perform a recognition process to recognize an object in the captured images , and a tracking unit configured to track the object; wherein the referring unit is configured to perform the recognition process to recognize the object again when the correction parameter is updated and only if the object is calculated to be at a distance from the plurality of image capturing units equal to or longer than a prescribed distance using the disparity image; and when the correction parameter is not updated, to perform tracking of the object using previous recognition of the object by the recognition unit by the recognition process. a correction unit configured to correct captured images captured by a plurality of image capturing units , the correction unit using a correction parameter stored in a memory , and being a correction for a relative displacement over time of the plurality of image capturing units with respect to each other; an update unit configured at prescribed intervals to generate an updated correction parameter based on the captured images and update the correction parameter stored in the memory using the generated updated correction parameter ; and a disparity calculator for calculating a disparity image from the corrected images; wherein the device is characterized by further comprising: a referring unit having: a recognition unit configured to perform a recognition process to recognize an object in the captured images , and a tracking unit configured to track the object; wherein the referring unit is configured to perform the recognition process to recognize the object again when the correction parameter is updated and only if the object is calculated to be at a distance from the plurality of image capturing units equal to or longer than a prescribed distance using the disparity image; and when the correction parameter is not updated, to perform tracking of the object using previous recognition of the object by the recognition unit by the recognition process. a recognition unit configured to perform a recognition process to recognize an object in the captured images , and a tracking unit configured to track the object; wherein the referring unit is configured to perform the recognition process to recognize the object again when the correction parameter is updated and only if the object is calculated to be at a distance from the plurality of image capturing units equal to or longer than a prescribed distance using the disparity image; and when the correction parameter is not updated, to perform tracking of the object using previous recognition of the object by the recognition unit by the recognition process. <EOS>