Abstract: A signal processing apparatus includes: an input unit receiving a first image generated by a first camera and higher-resolution second images generated by a plurality of second cameras; a similar portion detecting unit detecting a similar portion between part of a subject included in the first image and a subject included in each of the second images; an image synthesizing unit pasting the second images at positions corresponding to the detected similar portions within the first image to generate a synthesized image; an imaging area detecting unit detecting an area, for which image information is insufficient in the first image and is difficult to complement by the second cameras, as a non-imageable area from the synthesized image; and a camera parameter calculation unit changing a camera parameter for controlling the second camera that captures the second image by which the image information insufficient in the first image is complemented.