Image processing device, imaging device, mobile apparatus control system, image processing method, and program

An image processing device provided with: a generator for generating vertical direction distribution data showing the frequency distribution of a distance value in relation to a distance image in the vertical direction, from the distance image having a distance value that corresponds to the distance of the road surface in each of a plurality of captured images captured by a plurality of imaging units; an extractor for setting a search range that corresponds to prescribed reference points in the vertical direction distribution data, and extracting a plurality of pixels from the search range; and a detector for detecting the road surface on the basis of the plurality of extracted pixels.