An image capturing apparatus comprising: a light source configured to emit first light to a light translucent member ; an image sensor configured to capture an adhering detection frame (R4) for acquiring an adhering detection image to detect a substance adhering on the light translucent member by using the first light emitted from the light source , and to capture one or more object recognition frames (B0, A1, B2, A3) for acquiring one or more object recognition images for recognizing one or more objects other than the substance by receiving second light, different from the first light emitted from the light source , and further configured to perform an image capturing operation of the adhering detection frame (R4) and the object recognition frames (B0, A1, B2, A3) repeatedly; characterised in that the object recognition frames (B0, A1, B2, A3) include an automatic exposure frame right after the adhering detection frame that is captured by the image sensor under an automatic exposure control that changes an exposure time automatically; and further characterised by circuitry configured to set a frame time of the adhering detection frame (R4) shorter than a frame time of each of the object recognition frames (B0, A1, B2, A3); wherein the circuitry is configured to set an upper limit of an exposure time of the automatic exposure frame to a value that prevents overlapping of the exposure period of the adhering detection frame (R4) and the exposure period of the automatic exposure frame under dark environment, and wherein the image sensor comprises a number of light receiving elements configured to output received light quantity data at pre-set times. a light source configured to emit first light to a light translucent member ; an image sensor configured to capture an adhering detection frame (R4) for acquiring an adhering detection image to detect a substance adhering on the light translucent member by using the first light emitted from the light source , and to capture one or more object recognition frames (B0, A1, B2, A3) for acquiring one or more object recognition images for recognizing one or more objects other than the substance by receiving second light, different from the first light emitted from the light source , and further configured to perform an image capturing operation of the adhering detection frame (R4) and the object recognition frames (B0, A1, B2, A3) repeatedly; characterised in that the object recognition frames (B0, A1, B2, A3) include an automatic exposure frame right after the adhering detection frame that is captured by the image sensor under an automatic exposure control that changes an exposure time automatically; and further characterised by circuitry configured to set a frame time of the adhering detection frame (R4) shorter than a frame time of each of the object recognition frames (B0, A1, B2, A3); wherein the circuitry is configured to set an upper limit of an exposure time of the automatic exposure frame to a value that prevents overlapping of the exposure period of the adhering detection frame (R4) and the exposure period of the automatic exposure frame under dark environment, and wherein the image sensor comprises a number of light receiving elements configured to output received light quantity data at pre-set times. <EOS>