To promptly determine the presence of a parking frame for parking a vehicle based on an image.

This image processing apparatus 2 includes a lateral frame line detecting section 44 detecting a lateral frame line L1 of the parking frame based on one lateral frame line detection region in the image G; a longitudinal frame line detecting section 45 detecting two longitudinal frame lines based on two longitudinal frame line detection regions in the image G; a connection part detecting section 47 detecting two connection parts based on the two longitudinal frame line detection region in the image G; and a parking frame determining section 48 determines the presence of the parking frame for parking based on these detection results. The presence of the parking frame can be promptly determined because of determining the presence of the parking frame based not on the whole of the image G but on the limited regions in the image G.