In an image processing device (120), an extraction unit (121) extracts a plurality of objects from a captured image (101). A prediction unit (122) predicts a future distance between the plurality of objects extracted by the extraction unit (121). A classification unit (123) classifies into groups the plurality of objects extracted by the extraction unit (121) based on the future distance predicted by the prediction unit (122). A processing unit (124) processes the captured image (101) into a highlight image (102). The highlight image (102) is an image in which the plurality of objects classified by the classification unit (123) are highlighted separately for each group.