IMAGE PROCESSING APPARATUS, VEHICLE CONTROL APPARATUS, METHOD, AND PROGRAM

Provided are an apparatus and a method for generating a two-dimensional map or a surround-view image in which an object with low position reliability is set as an enlarged display object. A data processing section configured to receive an image captured by a camera that captures the image of surroundings of a vehicle and generate a two-dimensional map including objects in the surroundings of the vehicle is included. The data processing section generates the two-dimensional map or a surround-view image including an enlarged display object having an enlarged region set thereto, the enlarged region which, in case of an object with low position reliability, extends around the object. The data processing section determines that an object whose image height is equal to or greater than a predetermined image height threshold is an object with low position reliability, while determining that an object whose image height is not equal to or greater than the image height threshold is an object with high position reliability.