A camera parameter set calculation method includes acquiring a first image from a first camera, a second image from a second camera, first and second camera parameter sets of the first camera and the second camera, calculating three-dimensional coordinate sets on the basis of the first image, the second image, the first camera parameter set, and the second camera parameter set, determining first pixel coordinate pairs obtained by projecting the three-dimensional coordinate sets onto the first image and second pixel coordinate pairs obtained by projecting the three-dimensional coordinate sets onto the second image, calculating an evaluation value on the basis of the pixel values at the first pixel coordinate pairs and the pixel values at the second pixel coordinate pairs, and updating the first camera parameter set and the second camera parameter set on a basis of the evaluation value.