Image processing device, image processing method, and on-vehicle apparatus

An image processing device comprising a processor, the processor programmed to:

• generate, based on an image captured by an image capturing unit including an image sensor, an image viewed from a virtual viewpoint;
• and
• synthesize a guidance image for drive assist with the image viewed from the virtual viewpoint, wherein
• the processor is further programmed to:
• when the virtual viewpoint is moving with respect to a captured image of the image capturing unit, synthesize a first guidance image with the image viewed from the virtual viewpoint;
• and
• when the virtual viewpoint has moved with respect to the captured image of the image capturing unit, synthesize a second guidance image with the image viewed from the virtual viewpoint, the second guidance image having a visibility that is different from a visibility of the first guidance image.