An image processing apparatus includes a distortion correcting part for correcting pixels of image data having distortion due to distortion aberration characteristics of an optical system, and outputting corrected image data; a filtering part for applying a predetermined filtering process based on filter coefficients to the image data to be input into the distortion correcting part; and a filter coefficient setting part for setting, based on input distance data or relative coordinate data measured from a position corresponding to an optical center of the optical system to a target pixel for the filtering process on the image data, the filter coefficient which is used in the filtering part and is assigned to a position of the target pixel in accordance with the distortion aberration characteristics.