OBJECT RANGING APPARATUS, METHOD, AND COMPUTER READABLE MEDIUM

An object recognition unit recognizes an object included in an image captured by a camera mounted on a vehicle. A first distance estimation unit estimates a distance between the vehicle and the recognized object based on the image. A second distance estimation unit estimates the distance between the vehicle and the recognized object based on the image by using an estimation method different from that of the first distance estimation unit. A combining unit combines a result of estimating the distance obtained by the first distance estimation unit and a result of estimating the distance obtained by the second distance estimation unit based on at least one of an amount of change in the distance estimated by the second distance estimation unit, a steering wheel angle of the vehicle, and information about an acceleration in an up-down direction, and outputs a result of the combination as a ranging result.