Parking assistance device

A parking assistance device that performs a process for parking a vehicle in a parking area based on a captured image obtained by an imaging device mounted on the vehicle, the parking assistance device comprising:

• a storage part that stores the captured image;
• a first processing part that detects parking areas present in an imaging area of the imaging device, based on a low-resolution image obtained by reducing resolution of the captured image;
• a selecting part that selects a target parking area from the detected parking areas when the parking areas have been detected by the first processing part;
• an extracting part that extracts an extraction image including the target parking area from the captured image stored in the storage part;
• and
• a second processing part that generates, based on the extraction image, target information indicating a target stop location used upon parking the vehicle in the target parking area,
• wherein the extraction image has a higher resolution than the low-resolution image.