A processing apparatus includes a control unit that performs a control of performing, a plurality of times in parallel, a recognition operation in which a recognition unit recognizes a specific subject included in an imaging region based on a captured image obtained by imaging the imaging region by an imaging unit, and a distance measurement operation in which a distance measurement unit performs distance measurement by emitting light to the imaging region and receiving reflected light of the light from the imaging region, and a change unit that changes irradiation energy of the light to the imaging region for each distance measurement operation.