An image processing apparatus, comprising: a first acquisition unit adapted to acquire a first imaged image and a second imaged image, the first imaged image being obtained by imaging, by a first camera, a first subject located apart from a stereo camera by a known first distance Z1, the stereo camera including the first camera and a second camera, the first imaged image and the second imaged image being shifted from each other and having a first ideal shift amount of x1=B ∗ f/Z1 pixels in the x direction, wherein B is a known base line length and f is a known focal length, and 0 pixels in the y direction, the second imaged image being obtained by imaging the first subject by the second camera; and a second acquisition unit adapted to acquire a third imaged image and a fourth imaged image, the third imaged image being obtained by imaging, by the first camera, a second subject located apart from the stereo camera by a known second distance Z2 smaller than the first distance Z1, the fourth imaged image being obtained by imaging the second subject by the second camera, the third imaged image and the fourth imaged image having a second ideal shift amount of x2=B ∗ f/Z2 pixels in the x direction and 0 pixels in the y direction; and a correction parameter determination unit adapted to determine correction parameters for correcting positions of pixels in an imaged image obtained by the imaging by the first camera or the second camera on the basis of the first ideal shift amount and differences of coordinate values of a feature point in the first imaged image and coordinate values of a feature point, which corresponds to the feature point in the first imaged image, in the second imaged image in relation to a first image area indicating a central area of the imaged image, and on the basis of the second ideal shift amount and differences of coordinate values of a feature point in the third imaged image and coordinate values of a feature point, which corresponds to the feature point in the third imaged image, in the fourth imaged image in relation to a second image area indicating an image area other than the central area of the imaged image. a first acquisition unit adapted to acquire a first imaged image and a second imaged image, the first imaged image being obtained by imaging, by a first camera, a first subject located apart from a stereo camera by a known first distance Z1, the stereo camera including the first camera and a second camera, the first imaged image and the second imaged image being shifted from each other and having a first ideal shift amount of x1=B ∗ f/Z1 pixels in the x direction, wherein B is a known base line length and f is a known focal length, and 0 pixels in the y direction, the second imaged image being obtained by imaging the first subject by the second camera; and a second acquisition unit adapted to acquire a third imaged image and a fourth imaged image, the third imaged image being obtained by imaging, by the first camera, a second subject located apart from the stereo camera by a known second distance Z2 smaller than the first distance Z1, the fourth imaged image being obtained by imaging the second subject by the second camera, the third imaged image and the fourth imaged image having a second ideal shift amount of x2=B ∗ f/Z2 pixels in the x direction and 0 pixels in the y direction; and a correction parameter determination unit adapted to determine correction parameters for correcting positions of pixels in an imaged image obtained by the imaging by the first camera or the second camera on the basis of the first ideal shift amount and differences of coordinate values of a feature point in the first imaged image and coordinate values of a feature point, which corresponds to the feature point in the first imaged image, in the second imaged image in relation to a first image area indicating a central area of the imaged image, and on the basis of the second ideal shift amount and differences of coordinate values of a feature point in the third imaged image and coordinate values of a feature point, which corresponds to the feature point in the third imaged image, in the fourth imaged image in relation to a second image area indicating an image area other than the central area of the imaged image.