Abstract: An image processing apparatus includes an encoder and a decoder. The encoder includes a first convolution processor. The first convolution processor generates, based on first feature quantity data and first control data, second feature quantity data by performing a first convolution process on the first feature quantity data. The first feature quantity data includes captured image data and depth image data. The depth image data includes map data on a depth value of a subject corresponding to the captured image data. The first control data includes map data on validity of the depth value corresponding to the depth image data. The encoder generates pieces of feature quantity data including feature quantity data corresponding to the second feature quantity data. The decoder generates, based on the pieces of feature quantity data, an inference result of an environment around an imager that has generated the captured image data.