A vehicle surroundings recognition apparatus for recognizing a distance to a pedestrian appearing in an image of a camera of a vehicle obtained by performing image-capturing around the vehicle, the apparatus comprising: a first detection unit configured to detect first position information about the pedestrian in the image; a second detection unit configured to detect second position information about a moving object in the image in accordance with a technique different from the first detection unit; a first detection position interpolation unit configured to perform identical object association on the basis of the first position information about the pedestrian detected by the first detection unit and the second position information about the moving object detected by the second detection unit wherein for the identical object association the first detection position interpolation unit is configured to calculate a degree of consistency between the first position information and the second position information by computing an overlapping rate between the detected pedestrian and the detected moving object wherein in a case where a first state and a second state occur in a time sequence, wherein the first state is a state in which the first position information and the second position information are detected as the same object by the first position interpolation unit and the second state is a state in which only the second detection unit detects the second position information about the moving object the first detection position interpolation unit is configured to calculate interpolation information for interpolating the first position information about the pedestrian in the second state on the basis of a relative position of the first position information about the pedestrian with respect to the second position information about the moving object in the first state; and a distance measurement unit configured to measure a distance from the vehicle to the pedestrian on the basis of the first position information, the interpolated first position information about the pedestrian in the second state and camera parameters of the camera of the vehicle. a first detection unit configured to detect first position information about the pedestrian in the image; a second detection unit configured to detect second position information about a moving object in the image in accordance with a technique different from the first detection unit; a first detection position interpolation unit configured to perform identical object association on the basis of the first position information about the pedestrian detected by the first detection unit and the second position information about the moving object detected by the second detection unit wherein for the identical object association the first detection position interpolation unit is configured to calculate a degree of consistency between the first position information and the second position information by computing an overlapping rate between the detected pedestrian and the detected moving object wherein in a case where a first state and a second state occur in a time sequence, wherein the first state is a state in which the first position information and the second position information are detected as the same object by the first position interpolation unit and the second state is a state in which only the second detection unit detects the second position information about the moving object the first detection position interpolation unit is configured to calculate interpolation information for interpolating the first position information about the pedestrian in the second state on the basis of a relative position of the first position information about the pedestrian with respect to the second position information about the moving object in the first state; and wherein in a case where a first state and a second state occur in a time sequence, wherein the first state is a state in which the first position information and the second position information are detected as the same object by the first position interpolation unit and the second state is a state in which only the second detection unit detects the second position information about the moving object the first detection position interpolation unit is configured to calculate interpolation information for interpolating the first position information about the pedestrian in the second state on the basis of a relative position of the first position information about the pedestrian with respect to the second position information about the moving object in the first state; and a distance measurement unit configured to measure a distance from the vehicle to the pedestrian on the basis of the first position information, the interpolated first position information about the pedestrian in the second state and camera parameters of the camera of the vehicle.