A motor vehicle vision system (10) includes a pair of imaging devices (12a, 12b) forming a stereo imaging apparatus (11) and a data processing apparatus (14) for rectification of images captured by the stereo imaging apparatus (11), matching of rectified images, and to detect an object in the surrounding of the motor vehicle. The data processing device (14) performs, for image elements (43) of a rectified image from one imaging device, a search for a best-matching image element (44′) in the corresponding rectified image from the other imaging device. The search yielding vertical shift information from which a vertical shift from the image element (43) to the best-matching image element (44′) is derivable. The data processing device (14) calculates a pitch angle error and/or a roll angle error of or between the imaging devices (12a, 12b) from the vertical shift information.