IMAGE CAPTURING APPARATUS, IMAGE CAPTURING METHOD, CARRIER MEDIUM, AND DEVICE CONTROL SYSTEM FOR CONTROLLING VEHICLE-MOUNTED DEVICES

An image capturing apparatus (101) includes a light source (202) to emit first light to a light translucent member (105), an image sensor (206) to capture an adhering detection frame (R4) for acquiring an adhering detection image to detect a substance adhering on the light translucent member (105) by using the first light emitted from the light source (202), and to capture one or more object recognition frames (B0, A1, B2, A3) for acquiring one or more object recognition images for recognizing one or more objects other than the substance by receiving second light, different from the first light emitted from the light source (202), by performing an image capturing operation of the adhering detection frame (R4) and the object recognition frames (B0, A1, B2, A3) repeatedly, and circuitry to set a frame time of the adhering detection frame (R4) shorter than a frame time of each of the object recognition frames (B0, A1, B2, A3), and to set an exposure time of an object recognition frame right after the adhering detection frame (R4) to a value that prevents overlapping of an exposure period of the adhering detection frame (R4) and an exposure period of the object recognition frame right after the adhering detection frame (R4).