An image processing apparatus including: an error determination processing unit inputting a distance image having distance information or parallax information up to the subject, detecting an error signal included in the distance image, and outputting a synthesis coefficient according to an error degree of an image region unit; a low pass filter processing unit applying a low pass filter with respect to the distance image and generating a noise reduction distance image; and a distance image synthesis unit generating a corrected distance image using a synthesis process of the distance image and the noise reduction distance image, in which, the distance image synthesis unit follows a synthesis coefficient of an image region unit output by the error determination processing unit, performs synthesis processing in which the synthesis ratio of the distance image and the noise reduction image is set in the image region units, and generates the corrected distance image.