An imaging apparatus includes an imaging unit, a detector, a calculator, and a controller. The imaging unit captures an image of a road on which a vehicle runs, and generates the captured image of the road. The detector detects a contact position at which the vehicle is in contact with the road in the captured image. The calculator calculates a first brightness range based on brightness distribution in a first road surface area on the road and the first road surface area includes the contact position. The controller determines an imaging condition for the imaging unit based on the first brightness range, and controls the imaging unit using the determined imaging condition.