To stably obtain correspondence of a repeating pattern part and obtain correct correspondence from the image as a while.

An objective scene is photographed with photographing means 1-1, 1-2 such as a pair of television cameras to obtain two images, image correction is conducted in an image correction part 3, and a feature image is extracted from each of the two images in a feature extraction part 4. The feature image is divided into small regions by a small region dividing means 5a of a stereo coordinating part 5, similarity distribution in a searching region is prepared for every small region where correspondence is not yet decided in a correspondence calculating part 5b, and correspondence determining corresponding capability from the similarity distribution is found. The small regions are arranged in descending order of correspondence in a processing order determining part 5c, and correspondence is found in order of parts where stable correspondence is obtained in a small region coordinating part 5d. After position slippage between two images (binocular parallax) was found, a three-dimensional position is determined from the camera 1-1 in a distance conversion part 6.