Stereo imaging apparatus

Stereo imaging device has an optical zoom function, a first imaging unit that obtains a first image and (350), a second imaging unit for acquiring a second image with (351), the first image and a field angle adjustment unit that extracts an image portion to be estimated with the same angle from the second image and a (320). Angle adjustment unit (320) from the first and second images, and select a plurality of image blocks corresponding to each other, based on the relative positional relationship in the vertical direction of the plurality of image blocks in each image Te, a vertical area calculation unit that extracts the vertical image region estimated to have a first same vertical range image (322), the number of horizontal lines included in the calculated the vertical image area, wherein number of horizontal lines matching unit to match the number of horizontal lines to a predetermined value and (325) included in the first image, by comparing the signals of the corresponding horizontal lines included in the first and second image horizontal matching unit that performs stereo matching and a (323).