A distance image acquisition apparatus includes a projection unit which performs a plurality of times of light emission with a plurality of light emission intensities to project a first pattern of structured light onto a subject within a distance measurement region, an imaging unit which is provided in parallel with and apart from the projection unit by a baseline length, images the subject in synchronization with each of the plurality of times of light emission, and generates a plurality of captured images corresponding to the plurality of light emission intensities, a normalization unit which normalizes a plurality of captured images with coefficients corresponding to the plurality of light emission intensities to acquire a plurality of normalized images, a discrimination unit which compares a plurality of normalized images and discriminates the first pattern projected from the projection unit, and a distance image acquisition unit.