An apparatus for image taking includes a range image sensor, in which a range image is produced in which a distance is represented with a pixel value by image taking of a principal object from an image taking position. An image pickup device receives light reflected by the principal object, to output an image signal for respective pixels. A light reception control unit changes over a reception sequence and reception time, and causes the image pickup device to output image signals associated with first and second distance ranges. The second distance range is a distance range where the principal object exists and is over the first distance range. A first range image and second range image, are formed according to the image signals. Blank portions are designated within the second range image by comparison of the first range image and second range image, to compensate for the blank portions.