Provided are an apparatus and a method for executing generation of a disparity map and an object detection process with high accuracy and efficiency. The apparatus includes a disparity calculation unit that receives two images captured from different viewpoints, calculates a disparity, and generates a disparity map and a classification unit that performs the object detection process using the disparity map. The disparity calculation unit performs a stereo matching process using an original-resolution image, generates cost volumes corresponding to a plurality of resolutions from the processing result, generates disparity maps and object candidate region maps corresponding to a plurality of different resolutions, using the cost volumes corresponding to each resolution, and outputs the disparity maps and the object candidate region maps to the classification unit.