An image processing apparatus includes a projective transformation unit that performs projective transformation on left and right images captured from different points of view, a projective transformation parameter generating unit that generates a projective transformation parameter used by the projective transformation unit by receiving feature point information regarding the left and right images, a stereo matching unit that performs stereo matching using left and right projective transformation images subjected to projective transformation, and a matching error minimization control unit that computes image rotation angle information regarding the left and right projective transformation images and correspondence information of an error evaluation value of the stereo matching. The matching error minimization control unit computes the image rotation angle at which the error evaluation value is minimized, and the projective transformation parameter generating unit computes the projective transformation parameter that reflects the image rotation angle at which the error evaluation value is minimized.