An image processing apparatus having: one or more processor devices configured to: acquire image data of a plurality of images; acquire, from the image data of the plurality of images, a plurality of first corresponding points corresponding to each other between the plurality of images; calculate a first fundamental matrix based on the plurality of first corresponding points; calculate depths for the plurality of first corresponding points based on the first fundamental matrix; extract a plurality of second corresponding points from the plurality of first corresponding points based on the depths such that the plurality of second corresponding points include a nearest one of the plurality of first corresponding points and a farthest one of the plurality of first corresponding points; calculate a second fundamental matrix based on the plurality of second corresponding points; and perform three-dimensional reconstruction of the plurality of images based on the second fundamental matrix.