A stereo camera device, comprising: a disparity information obtaining unit that obtains disparity information of an overlapping area (210, 220, 240) of a plurality of images captured by a plurality of cameras (21, 22) installed in a vehicle; an object detecting unit; and an object distance calculating unit is configured to calculate a distance between the vehicle and an object detected by the object detecting unit in a non-overlapping area (212, 222) other than the overlapping area (212, 222) present in each of the images on the basis of the disparity information obtained from the overlapping area (210, 220, 240) in the past, characterized in that the stereo camera device further comprises: a road surface height calculating unit which is configured to calculate a road surface height in the-non-overlapping area (212, 222) on the basis of the disparity information, wherein: the object detecting unit is configured to detect the object on a road surface in the non-overlapping area (212, 222) with a height different from a height of the road surface in the overlapping area (210, 220, 240); and the object distance calculating unit is configured to calculate a distance to the object detected in the non-overlapping area (212, 222); the stereo camera device further comprising a storage unit configured to store road surface height information corresponding to the overlapping area (210, 220, 240) of a sidewalk calculated in the road surface height calculating unit, wherein when an image area in the overlapping area (210, 220, 240) where the road surface height of the sidewalk is measured has moved to the non-overlapping area (212, 222) according to a movement of the vehicle, the object distance calculating unit is configured to calculate the distance between the object and the vehicle by correcting a position of the object in an image height direction using the road surface height information of the sidewalk stored in the storage unit. a disparity information obtaining unit that obtains disparity information of an overlapping area (210, 220, 240) of a plurality of images captured by a plurality of cameras (21, 22) installed in a vehicle; an object detecting unit; and an object distance calculating unit is configured to calculate a distance between the vehicle and an object detected by the object detecting unit in a non-overlapping area (212, 222) other than the overlapping area (212, 222) present in each of the images on the basis of the disparity information obtained from the overlapping area (210, 220, 240) in the past, characterized in that the stereo camera device further comprises: a road surface height calculating unit which is configured to calculate a road surface height in the-non-overlapping area (212, 222) on the basis of the disparity information, wherein: the object detecting unit is configured to detect the object on a road surface in the non-overlapping area (212, 222) with a height different from a height of the road surface in the overlapping area (210, 220, 240); and the object distance calculating unit is configured to calculate a distance to the object detected in the non-overlapping area (212, 222); a road surface height calculating unit which is configured to calculate a road surface height in the-non-overlapping area (212, 222) on the basis of the disparity information, wherein: the object detecting unit is configured to detect the object on a road surface in the non-overlapping area (212, 222) with a height different from a height of the road surface in the overlapping area (210, 220, 240); and the object distance calculating unit is configured to calculate a distance to the object detected in the non-overlapping area (212, 222); the stereo camera device further comprising a storage unit configured to store road surface height information corresponding to the overlapping area (210, 220, 240) of a sidewalk calculated in the road surface height calculating unit, wherein when an image area in the overlapping area (210, 220, 240) where the road surface height of the sidewalk is measured has moved to the non-overlapping area (212, 222) according to a movement of the vehicle, the object distance calculating unit is configured to calculate the distance between the object and the vehicle by correcting a position of the object in an image height direction using the road surface height information of the sidewalk stored in the storage unit.