An image processing device includes: a first obtainer that obtains a captured image from an imaging device that captures a view in front of a vehicle; a second obtainer that obtains a remaining distance to a next guide point; an image processor that performs image processing on a specified region, in the captured image, corresponding to a position distanced by the remaining distance; and an output unit that outputs the captured image processed by the image processor, wherein the image processor controls an edge strength of a subject in the specified region, in accordance with the remaining distance.