An image processing device includes: a reception unit that receives position information of a capturing target and a captured image of the capturing target captured by at least one camera, a prediction unit that predicts a position of the capturing target within a capturing range of the camera based on the position information of the capturing target; a detection unit that detects the capturing target by reading a captured image of a limitation range that is a part of the capturing range from the captured image of the capturing range based on a predicted position of the capturing target; a measurement unit that measures a position of a detected capturing target; and an output unit that outputs a difference between a measured position of the capturing target and the predicted position.