An image processing device adapted to a moving body anti-collision device of a moving body moving on a road, comprising: a camera unit, and an image processing unit that processes images provided by the camera unit, wherein the camera unit includes: a lens, a focusing unit that drives the lens to change a focusing distance of the camera unit, and an image pick-up unit, wherein the focusing unit drives the lens to sequentially change the focusing distance of the camera unit to perform a focus-sweep operation, so that clear images of objects at different positions in an optical axis of the lens are formed on the image pick-up unit, wherein a difference between said focusing distances of any two adjacent images sequentially captured by the camera unit in the focus-sweep operation is a predetermined one being less than or equal to one meter, the image pick-up unit picks up a plurality of images corresponding to different focusing distances in the focus-sweep operation, and the image processing unit receives the plurality of images obtained by the image pick-up unit of the camera unit in the focus-sweep operation, identifies objects with clear images formed in the plurality of images, and produces an object distribution view according to the focusing distances used when picking up the plurality of images, said object distribution view indicating a position distribution of the identified objects. a camera unit, and an image processing unit that processes images provided by the camera unit, wherein the camera unit includes: a lens, a focusing unit that drives the lens to change a focusing distance of the camera unit, and an image pick-up unit, wherein the focusing unit drives the lens to sequentially change the focusing distance of the camera unit to perform a focus-sweep operation, so that clear images of objects at different positions in an optical axis of the lens are formed on the image pick-up unit, wherein a difference between said focusing distances of any two adjacent images sequentially captured by the camera unit in the focus-sweep operation is a predetermined one being less than or equal to one meter, the image pick-up unit picks up a plurality of images corresponding to different focusing distances in the focus-sweep operation, and the image processing unit receives the plurality of images obtained by the image pick-up unit of the camera unit in the focus-sweep operation, identifies objects with clear images formed in the plurality of images, and produces an object distribution view according to the focusing distances used when picking up the plurality of images, said object distribution view indicating a position distribution of the identified objects. a lens, a focusing unit that drives the lens to change a focusing distance of the camera unit, and an image pick-up unit, wherein the focusing unit drives the lens to sequentially change the focusing distance of the camera unit to perform a focus-sweep operation, so that clear images of objects at different positions in an optical axis of the lens are formed on the image pick-up unit, wherein a difference between said focusing distances of any two adjacent images sequentially captured by the camera unit in the focus-sweep operation is a predetermined one being less than or equal to one meter, the image pick-up unit picks up a plurality of images corresponding to different focusing distances in the focus-sweep operation, and the image processing unit receives the plurality of images obtained by the image pick-up unit of the camera unit in the focus-sweep operation, identifies objects with clear images formed in the plurality of images, and produces an object distribution view according to the focusing distances used when picking up the plurality of images, said object distribution view indicating a position distribution of the identified objects. <EOS>