Dense depth information can be generated using only a monocular image and sparse depth information.
A depth hyper-resolving apparatus 100 includes: an input data processing unit 22 that outputs a hierarchical input image and hierarchical input depth information by resolution conversion in accordance with a predetermined number of tiers for an input image and input depth information; a depth continuity estimation unit 24 that derives hierarchical estimated depth continuity based on the hierarchical input image; a depth continuity mask deriving unit 26 that outputs a hierarchical depth continuity mask representing values of locations depending on whether a depth is continuous based on the hierarchical input image and the hierarchical estimated depth continuity; and a cost function minimization unit 30 that derives hyper-resolved depth information to minimize a cost function expressed by using the hierarchical input depth information, the hierarchical depth continuity mask, and the hyper-resolved depth information.