Provided is a confidence generation apparatus including: an acquisition unit configured to acquire a depth image signal which includes depth information representing a depth to an object in each of a plurality of pixels; and a generation unit configured to generate global confidence which represents confidence in a global region of the depth image signal. The generation unit includes: a first generation processing unit configured to generate local confidence which represents the confidence in the depth information in each of the plurality of pixels; a region division processing unit configured to divide the depth image signal into a plurality of regions based on the depth information; and a second generation processing unit configured to generate the global confidence in each of the plurality of regions based on the local confidence.