An image processing apparatus includes an estimation circuit and a correction circuit. The estimation circuit is configured to estimate, based on captured image data including an image of a lane line that defines a traveling road, a position of the lane line on a road surface of the traveling road. The correction circuit is configured to correct, based on a height position of an imager that has generated the captured image data with respect to the road surface of the traveling road, the position of the lane line on the road surface of the traveling road estimated by the estimation circuit.