Image apparatus for detecting abnormality of distance image

An image apparatus comprising:

• a first imaging unit that captures an image;
• a second imaging unit that is disposed at a predetermined position relative to the first imaging unit and that captures an image;
• a first light source that emits light to an area in which the first imaging unit captures an image;
• a second light source that emits light to an area in which the second imaging unit captures an image;
• and
• an image processing unit that processes an output signal of the first imaging unit and an output signal of the second imaging unit;
• wherein
• the image processing unit includes:
• a first distance image generation unit that generates a first distance image including distance information from the output signal of the first imaging unit based on a flight time of light;
• a second distance image generation unit that generates a second distance image including distance information from the output signal of the second imaging unit based on a flight time of light;
• a first two-dimensional image generation unit that generates a first two-dimensional image from the output signal of the first imaging unit;
• a second two-dimensional image generation unit that generates a second two-dimensional image from the output signal of the second imaging unit;
• a stereo image generation unit that generates a stereo image including distance information based on the first two-dimensional image and the second two-dimensional image;
• and
• an image comparison unit that compares the stereo image and at least one of the first distance image and the second distance image and detects an abnormality of at least one of the first distance image and the second distance image.