An information processing apparatus which generates a parallax image based on images (410, 420) taken by a plurality of image pickup units (710, 720), comprising: a processor; and a memory storing computer readable code that, when executed by the processor, causes the processor to act as a correlation unit configured to correlate distance information with a first pixel in a first image that constitutes the images (410, 420), said distance information indicating a distance from an emission position of a beam of electromagnetic waves emitted in a shooting direction of the plurality of image pickup units (710, 720) to a reflection position corresponding to said first pixel, the distance information being obtained based on the reflected waves at said reflection position; and a generation unit configured to generate a parallax image by using the distance information correlated with the first pixel for parallax computation of pixels in a second image that constitutes the images (410, 420), wherein the generation unit is configured to compute a parallax of a second pixel among the pixels in the second image, corresponding to the first pixel in the first image, based on the distance information correlated with the first pixel and a known distance between the plurality of image pickup units (710, 720), characterized in that the generation unit is configured to change both a luminance value of the first pixel in the first image and a luminance value of a pixel in the second image at a position according to the parallax of the second pixel in the second image to secondary luminance values and process the images (410, 420) after the luminance value of the first pixel and the luminance value of the pixel are changed to the secondary luminance values. a processor; and a memory storing computer readable code that, when executed by the processor, causes the processor to act as a correlation unit configured to correlate distance information with a first pixel in a first image that constitutes the images (410, 420), said distance information indicating a distance from an emission position of a beam of electromagnetic waves emitted in a shooting direction of the plurality of image pickup units (710, 720) to a reflection position corresponding to said first pixel, the distance information being obtained based on the reflected waves at said reflection position; and a generation unit configured to generate a parallax image by using the distance information correlated with the first pixel for parallax computation of pixels in a second image that constitutes the images (410, 420), wherein the generation unit is configured to compute a parallax of a second pixel among the pixels in the second image, corresponding to the first pixel in the first image, based on the distance information correlated with the first pixel and a known distance between the plurality of image pickup units (710, 720), characterized in that the generation unit is configured to change both a luminance value of the first pixel in the first image and a luminance value of a pixel in the second image at a position according to the parallax of the second pixel in the second image to secondary luminance values and process the images (410, 420) after the luminance value of the first pixel and the luminance value of the pixel are changed to the secondary luminance values.