Image processing apparatus and image processing method

An image processing apparatus comprising:

• a processed-image generating unit configured to acquire an image around a vehicle picked up by a camera provided on the vehicle and generate a plurality of processed images by scaling the image picked up by the camera by a corresponding plurality of scale factors;
• a detection unit configured to scan each of the plurality of processed images by a frame having a predetermined size according to a detection object, determine likelihood at each scanning position using a dictionary of the detection object, and detect a scan frame having likelihood higher than predetermined likelihood, the plurality of processed images being associated in advance with a corresponding plurality of image distances, each of the plurality of image distances being a predetermined estimated distance from the vehicle;
• and
• a calculation unit configured to determine a determined estimated distance from the vehicle to the detection object according to an image distance associated with a processed image to which the scan frame detected by the detection unit belongs, and calculate and output, based on a history of determined estimated distances and on the plurality of image distances, a time until the vehicle and the detection object collide with each other.