An image processing apparatus includes an input interface configured to acquire images captured by a camera and a controller configured to detect an edge corresponding to at least one of two or more parallel, straight lines included in the subject of the camera from each of a plurality of frames acquired by the input interface, to select a frame for use by evaluating the detected edge, and to calculate calibration data for the camera on the basis of an approximate straight line corresponding to edge pixels obtained from a plurality of selected frames.