IMAGE PROCESSING APPARATUS

An image processing apparatus includes a corresponding point calculator and a determination unit. The corresponding point calculator identifies corresponding points relating to an object based on left and right images in each stereo image. The corresponding points include a right image point in the right image and a left image point in the left image. The determination unit predicts a first position of the left image point in a second stereo image, and a second position of the right image point in a second stereo image, based on a position of the left image point in a first stereo image and a position of the right image point in the first stereo image, and determines whether the object is a mobile body based on a difference between the first position predicted and the first position identified, and a difference between the second position predicted and the second position identified.