Because a vehicle rear view monitoring device changes the detection threshold level of each of distance sensors 4-1 to 4-4 to change horizontal and vertical detection areas and a bearing resolution, determines the display position of an obstacle mark 16 from the distances to an obstacle 15 detected by the plurality of distance sensors 4-1 to 4-4, and amplitude information about the amplitude of a reflected wave from the obstacle, and overlays the obstacle mark 16 on the obstacle 15 by using an overlay unit 17, the vehicle rear view monitoring device improves the degree of positional precision of the overlay of the obstacle mark on the obstacle displayed on a captured image.