1. A navigation device for a vehicle comprising: a position detector for outputting a present position of the vehicle; a controller for obtaining a map information from a map database, and performing a guidance of a predetermined route based on the present position of the vehicle and the map information; a display portion for displaying a road map image based on the map information; an imaging portion for imaging a forward view in front of the vehicle as a forward image from a predetermined distance before a guidance point of the route; and an image processor for extracting and analyzing a visual information of an on-road object from the forward image, wherein the controller specifies a position of the on-road object based on the visual information of the on-road object and the map information of the route, the controller determines whether or not the position of the on-road object corresponds to the guidance point of the route, and the controller causes the display portion to display and highlight an image of the on-road object at a true position in the road map image, when the controller determines that the position of the on-road object corresponds to the guidance point of the route.