A vision system for a motor vehicle, comprising a pair of imaging devices (12a, 12b) forming a stereo imaging apparatus and a data processing apparatus adapted to perform rectification of images captured by said stereo imaging apparatus, stereo matching of rectified images, and to detect an object in the surrounding of the motor vehicle from stereo matched images, wherein said data processing device is adapted to perform, for image elements of a rectified image from one imaging device, a search for a best-matching image element in the corresponding rectified image from the other imaging device, said search covering a two-dimensional search area, said search yielding vertical shift information from which a vertical shift from the image element to the best-matching image element is derivable, wherein said data processing device is adapted to calculate a pitch angle error and/or a roll angle error of or between the imaging devices (12a, 12b) from said vertical shift information, wherein said vertical shift information comprises a plurality of cost values, or match related scores indicating the degree of vertical match between the image element under consideration and a plurality of image elements of the corresponding image from the other imaging device shifted with different vertical components relative to the image element under consideration, yielding a vertical matching cost cube build up by the set, or cost tuple, of extracted vertical cost values, or match related scores, for each image element, characterized in that pluralities of image elements are bundled into larger image regions and for each vertical shift the cost values, or match related scores from each image element in that image region are accumulated, such that for each image region a bundled match score tuple is calculated based on the cost tuples of the vertical matching cost cube belonging to the image region under consideration, yielding a reduced size matching cost cube of bundled cost values. wherein said data processing device is adapted to perform, for image elements of a rectified image from one imaging device, a search for a best-matching image element in the corresponding rectified image from the other imaging device, said search covering a two-dimensional search area, said search yielding vertical shift information from which a vertical shift from the image element to the best-matching image element is derivable, wherein said data processing device is adapted to calculate a pitch angle error and/or a roll angle error of or between the imaging devices (12a, 12b) from said vertical shift information, wherein said vertical shift information comprises a plurality of cost values, or match related scores indicating the degree of vertical match between the image element under consideration and a plurality of image elements of the corresponding image from the other imaging device shifted with different vertical components relative to the image element under consideration, yielding a vertical matching cost cube build up by the set, or cost tuple, of extracted vertical cost values, or match related scores, for each image element, characterized in that pluralities of image elements are bundled into larger image regions and for each vertical shift the cost values, or match related scores from each image element in that image region are accumulated, such that for each image region a bundled match score tuple is calculated based on the cost tuples of the vertical matching cost cube belonging to the image region under consideration, yielding a reduced size matching cost cube of bundled cost values.