Stereo Camera Device and Calibration Method

A stereo camera device, comprising:

• a storage unit that stores correlation information of a parallax error in a horizontal direction with respect to a vertical shift of a plurality of images respectively captured by a plurality of cameras through a refractile body that refracts light, the correlation information being obtained based on a refractile body characteristic including an attitude of the refractile body attached to a vehicle and a shape of the refractile body, and attitudes of the plurality of cameras arranged in the vehicle;
• a matching unit that matches the plurality of images obtained by the plurality of cameras capturing a same subject to obtain a vertical shift of the plurality of images;
• a parallax error estimation unit that estimates a parallax error of the plurality of images having been matched based on the vertical shift and the correlation information;
• and
• a distance calculation unit that corrects, using the parallax error, a parallax of the image having been matched.