Image processing device and method, driving assist system, and vehicle

An image processing device comprising:

• an image obtaining means that obtains an input image based on an image-taking result of a camera which is mounted on a vehicle and covers part of a vehicle main body in a view field;
• a vehicle direction estimation means that based on the input image, detects an edge portion on the input image which extends in a direction depending on a direction of the vehicle and detects a tire of the vehicle in the direction in which the edge portion extends, thereby estimating the direction of the vehicle on the input image;
• and
• an image correction means that corrects the input image based on the estimated direction of the vehicle to generate an output image.

An image processing method comprising the steps for:

• obtaining an input image based on an image-taking result of a camera which is mounted on a vehicle and covers part of a vehicle main body in a view field;
• based on the input image, detecting an edge portion on the input image which extends in a direction depending on a direction of the vehicle and detecting a tire of the vehicle in the direction in which the edge portion extends, thereby estimating the direction of the vehicle on the input image;
• and
• correcting the input image based on the estimated direction of the vehicle.