An appropriate peak detection is performed on the basis of a histogram indicating a frequency of reception of reflected light to measure a distance to a target object. A histogram acquisition unit acquires a histogram indicating the frequency of reception of reflected light including active light components that are active light emitted from a light emitting unit and reflected by the target object and ambient light components that are ambient light reflected by the target object. A detection unit detects a distribution of the active light components by performing predetermined statistical processing on the histogram. A measurement unit measures the distance to the target object as distance information on the basis of the distribution of the active light components.