A multocular image pickup apparatus comprising: a plurality of at least four image pickup units configured to pick up images; a distance calculation unit configured to calculate distance information regarding a distance to a captured object from an output image of a first image pickup unit, which is to be the reference unit of the plurality of image pickup units, and from output images of at least three further image pickup units among the plurality of image pickup units that are different from the first image pickup unit; a multocular image synthesizing unit configured to generate a first high-definition-synthesized image from the output images of the plurality of image pickup units based on the distance information for regions where the distance information could be calculated in the distance calculation unit; and a monocular image synthesizing unit configured to generate a second high-definition-synthesized image from the output image of the first image pickup unit for regions where the distance information could not be calculated in the distance calculation unit; wherein the distance calculation unit calculates the distance information from the output image of the first image pickup unit and the output image of a second image pickup unit that is different from the first image pickup unit, and in case that there is a first region where the distance information could not be calculated, the distance calculation unit recalculates the distance information for this first region from the output image of a third image pickup unit that was not yet used for calculating the distance among the plurality of image pickup units and from the output video of the first image pickup unit, and in case that there is a second region where the distance information could still not be calculated, the distance calculation unit recalculates the distance information for this second region from the output image of a forth image pickup unit that was not yet used for calculating the distance among the plurality of image pickup units and from the output video of the first image pickup unit. a plurality of at least four image pickup units configured to pick up images; a distance calculation unit configured to calculate distance information regarding a distance to a captured object from an output image of a first image pickup unit, which is to be the reference unit of the plurality of image pickup units, and from output images of at least three further image pickup units among the plurality of image pickup units that are different from the first image pickup unit; a multocular image synthesizing unit configured to generate a first high-definition-synthesized image from the output images of the plurality of image pickup units based on the distance information for regions where the distance information could be calculated in the distance calculation unit; and a monocular image synthesizing unit configured to generate a second high-definition-synthesized image from the output image of the first image pickup unit for regions where the distance information could not be calculated in the distance calculation unit; wherein the distance calculation unit calculates the distance information from the output image of the first image pickup unit and the output image of a second image pickup unit that is different from the first image pickup unit, and in case that there is a first region where the distance information could not be calculated, the distance calculation unit recalculates the distance information for this first region from the output image of a third image pickup unit that was not yet used for calculating the distance among the plurality of image pickup units and from the output video of the first image pickup unit, and in case that there is a second region where the distance information could still not be calculated, the distance calculation unit recalculates the distance information for this second region from the output image of a forth image pickup unit that was not yet used for calculating the distance among the plurality of image pickup units and from the output video of the first image pickup unit.