Image processing device, driving support system, and image processing method

An image processing device performing an image processing for a first image and a second image captured by a camera, the image processing device comprising:

• a first circuit configured to determine a first position of a first reference line and a second position of a second reference line in at least one of the first image and the second image;
• a second circuit configured to determine a image deformation reduction parameter based on a line width from a first reference point on the first reference line at the first position to a second reference point on the second reference line at the second position;
• and
• a third circuit configured to reduce image deformation in the first image or the second image based on the image deformation reduction parameter,
• wherein the second circuit is configured to generate a plurality of image deformation reduction parameters based on a plurality of line width from a plurality of first reference points on the first reference line at the first position to a plurality of second reference points on the second reference line at the second position, respectively.