A navigation device includes a position detector, a controller, a display portion, an imaging portion and an image processor. The imaging portion images a forward view in front of the vehicle as a forward image from a predetermined distance before a guidance point. The image processor extracts and analyzes visual information of an on-road object from the forward image. The controller specifies a position of the on-road object based on the visual information and map information. The display portion displays and highlights an image of the on-road object at a true position in a road map image, when the position of the on-road object corresponds to the guidance point.