An image pickup apparatus comprising: a lens array placed at a position facing one or more markers to be taken and having a plurality of lenses (1a, 1b) arranged in an array, a part of the lenses making one or more stereo lens pairs; an image pickup device placed on the image-plane side of the lens array and configured to take a multifaceted compound-eye image consisting of a set of monocular images formed by the plural lenses (1a, 1b); and a computing unit for computing range imagery from one or more pairs of the monocular images formed by said one or more stereo lens pairs, characterized in that the computing unit includes imaging position determination means for determining from each of the monocular images an image pickup position of each of said one or more markers whose relative positional relationships with respect to the image pickup apparatus are known; and image distortion parameter determination means for determining an image distortion parameter based upon a determination result of the imaging position determination means; wherein the imaging position determination means divide the multifaceted compound-eye image taken by the image pickup device into the monocular images and detect from the monocular images said one or more markers with known relative positional relationships, the image distortion parameter determination means has a table describing a relationship between temperature and position in each of the monocular images of said one or more markers with the known positional relationship relative to the image pickup apparatus and describing the relationship between temperature and the image distortion parameter, and the image distortion parameter determination means determine the image distortion parameter from the table based upon a detected position of each of the determined markers to correct the distortion of each of the monocular images using the image distortion parameter. a lens array placed at a position facing one or more markers to be taken and having a plurality of lenses (1a, 1b) arranged in an array, a part of the lenses making one or more stereo lens pairs; an image pickup device placed on the image-plane side of the lens array and configured to take a multifaceted compound-eye image consisting of a set of monocular images formed by the plural lenses (1a, 1b); and a computing unit for computing range imagery from one or more pairs of the monocular images formed by said one or more stereo lens pairs, characterized in that the computing unit includes imaging position determination means for determining from each of the monocular images an image pickup position of each of said one or more markers whose relative positional relationships with respect to the image pickup apparatus are known; and image distortion parameter determination means for determining an image distortion parameter based upon a determination result of the imaging position determination means; wherein the imaging position determination means divide the multifaceted compound-eye image taken by the image pickup device into the monocular images and detect from the monocular images said one or more markers with known relative positional relationships, the image distortion parameter determination means has a table describing a relationship between temperature and position in each of the monocular images of said one or more markers with the known positional relationship relative to the image pickup apparatus and describing the relationship between temperature and the image distortion parameter, and the image distortion parameter determination means determine the image distortion parameter from the table based upon a detected position of each of the determined markers to correct the distortion of each of the monocular images using the image distortion parameter.