Provided are an image processing device and an image processing method for generating a disparity image from a first image and a second image. A vertical edge extraction unit detects vertical edges in the first image, and a horizontal segmentation unit divides a horizontal line in the first image into a plurality of segments using the detected edges as borders between the segments. A disparity search unit calculates, for each of the segments, a disparity between the segment and a region of the second image similar to the segment, and a disparity image generation unit generates the disparity image in accordance with the disparity calculated for each of the segments.