To simplify the determination of ranges to integrate by photographing an object from at least two different locations and obtaining the area that pixels showing the same parallax continues at the tie of detecting the indination of the object pixel by pixel and reconfiguring the shape.

An object 30 is photographed by e.g. two cameras 11a and 11b top obtain a gray level image for each camera. The images are stored in a left image storing means 13a and right image storing means 13b, and simultaneously parallax between the right and left images is extracted at a twin-lens strop detecting device to store in a parallax storing means 13c. A gradient detecting means 15 calculates the gradient of each minute part of the object 30 of the basis of the ratio of luminance of right and left corresponding pixels. A integration range determining means 19 scandals the means 13c and extracts the coordinates of an area that pixels showing the same parallax continues. An integrating means 21 integrates the inclination of the object 30 corresponding to these groups of pixels on the basis of the coordinates extracted above. By these arrangements, it is possible to eliminate the need of processing such as bipolarzing or processing using a reflectance factor map in determining ranges to integrate for reconfiguring the shape of an object.