An image processing apparatus includes an outline distance estimating unit that acquires distance information on an outline portion of an area included in an image; an area dividing unit that divides an area included in an image on the basis of pixel attribute values; an area-plane estimating unit that estimates an area plane composing each area by using the distance information on the outline portion of each area resulting from the division to calculate an area-plane definitional equation; an abnormal data determining unit that compares the area plane with each coordinate position on a three-dimensional space indicated by the distance information to determine the distance information having a high degree of shift from the area plane to be abnormal data; and an area interpolating unit that estimates the distances inside the area by using the distance information resulting from removal of the abnormal data from the distance information.