To keep cross-reference between images of video cameras even when each optical axis of the video cameras configuring a stereo camera is shifted vertically and laterally with respect to an epipolar line due to vibration at driving.

In the case of taking cross reference between images of an image pickup object in image signals obtained respectively by plural video cameras with a cross reference processing unit, the cross reference between left and right areas 31, 32 is settled on an epipolar line EP between the video cameras (longitudinal deviation dy=0) and an area in the vicinity of the EP line in the vertical direction (longitudinal deviation dy=-1, 1, 2). As a result, it is possible to take cross reference processing in four strip areas consisting of the longitudinal deviation dy=-1, 1, 2 and a lateral deviation dx=0 to 128, and even when each optical axis of the video cameras is deviated in longitudinal and lateral directions with respect to the EP line due to vibration at driving resulting in deviating images IR, IL in the vertical direction, the cross reference between the images IR, IL is taken.