STEREO CAMERA DEVICE AND COMPUTER-READABLE RECORDING MEDIUM

The stereo camera device includes: a pair of cameras; a first converter converting images of the cameras into first conversion images; a second converter converting the images into second conversion images; and a disparity estimation unit. The first conversion image is an image in which positions of pixels are represented by two-dimensional orthogonal coordinates defined by a first angle around a first axis defined by a straight line connecting optical centers of the cameras and a second angle around a second axis defined by an optical axis of the camera. The second conversion image is an image in which positions of pixels are represented by two-dimensional orthogonal coordinates defined by the first angle and a third angle around a third axis orthogonal to the first and second axes. The disparity estimation unit calculates a disparity of a desired point in a space based on the first and second conversion images.