Provided is an image processing apparatus that: acquires a depth map that includes information that indicates a distance up to a subject in an actual space, the depth map including, for each of one or a plurality of areas in the depth map, information regarding the distance up to a subject portion that appears in the area and regarding a color component of the subject portion; and generates a composite image in which a virtual object is arranged in a scene image that represents a scene of the actual space. The image processing apparatus determines a display color of the virtual object on the basis of the distance up to the subject portion that appears in the depth map and the color component thereof.