IMAGING APPARATUS AND METHOD THAT REDUCES ILLUMINATION VARIATIONS BY CONVERTING A LUMINANCE VALUE OF A TARGET PIXEL DEPENDING ON AN AVERAGE LUMINANCE VALUE OF PIXELS IN THE VICINITY OF THE TARGET PIXEL

An imaging apparatus estimates a distance based on a reflectance value of a subject estimated with improved precision. An illumination unit illuminates a subject with illumination light. An imaging unit captures a plurality of images each under a different condition of the illumination unit. An illumination light element obtaining unit obtains an image formed with an element of the illumination light from the plurality of images. A reflectance estimation unit eliminates illumination variations from one of the plurality of images or from the image formed with the illumination light element, and estimates a reflectance of the subject corresponding to each pixel. A distance information estimation unit estimates a distance to the subject corresponding to each pixel based on the image formed with the illumination light element and the reflectance of the subject.