An image processing device for performing a color balancing of at least a first image recorded by a first camera and a second image recorded by a second camera, comprising a color balancing determination unit and a color balancing calculation unit, wherein the color balancing determination unit is adapted to determine a global gain vector (t) comprising a first estimated gain factor (â) for the first image and a second estimated gain factor (â) for the second image by minimizing a pre-determined cost function (J') based upon reference pixel values (y i) as recorded in the first image and reference pixel values (y i) as recorded in the second image, wherein each of the first and second image (11a, 12a) comprises reference pixels depicting a shared color scene of the first and second images (11a, 12a), and wherein the color balancing calculation unit is adapted to perform a color balancing of the first image based upon the first estimated gain factor (â) for the first image, and perform a color balancing of the second image based upon the second estimated gain factor (â) for the second image, characterized in that minimizing the pre-determined cost function (J') comprises minimizing J'=Y.t wherein Y = [y y], y = [y 1... y i... y I] T being a vector formed with the I reference pixel values as recorded in the first image and y = [y 1... y i... y I] T being a vector formed with the I reference pixel values as recorded in the second image, and wherein t = [a -a] T is the global gain vector, a being a first gain factor by which reference pixel values (x i) are multiplied to equal y in the first image, a being a second gain factor by which reference pixel values (x i) are multiplied to equal y in the second image. a color balancing determination unit and a color balancing calculation unit, wherein the color balancing determination unit is adapted to determine a global gain vector (t) comprising a first estimated gain factor (â) for the first image and a second estimated gain factor (â) for the second image by minimizing a pre-determined cost function (J') based upon reference pixel values (y i) as recorded in the first image and reference pixel values (y i) as recorded in the second image, wherein each of the first and second image (11a, 12a) comprises reference pixels depicting a shared color scene of the first and second images (11a, 12a), and determine a global gain vector (t) comprising a first estimated gain factor (â) for the first image and a second estimated gain factor (â) for the second image a first estimated gain factor (â) for the first image and a second estimated gain factor (â) for the second image by minimizing a pre-determined cost function (J') based upon reference pixel values (y i) as recorded in the first image and reference pixel values (y i) as recorded in the second image, wherein each of the first and second image (11a, 12a) comprises reference pixels depicting a shared color scene of the first and second images (11a, 12a), and reference pixel values (y i) as recorded in the first image and reference pixel values (y i) as recorded in the second image, wherein each of the first and second image (11a, 12a) comprises reference pixels depicting a shared color scene of the first and second images (11a, 12a), and wherein the color balancing calculation unit is adapted to perform a color balancing of the first image based upon the first estimated gain factor (â) for the first image, and perform a color balancing of the second image based upon the second estimated gain factor (â) for the second image, perform a color balancing of the first image based upon the first estimated gain factor (â) for the first image, and perform a color balancing of the second image based upon the second estimated gain factor (â) for the second image, characterized in that minimizing the pre-determined cost function (J') comprises minimizing J'=Y.t wherein Y = [y y], y = [y 1... y i... y I] T being a vector formed with the I reference pixel values as recorded in the first image and y = [y 1... y i... y I] T being a vector formed with the I reference pixel values as recorded in the second image, and wherein t = [a -a] T is the global gain vector, a being a first gain factor by which reference pixel values (x i) are multiplied to equal y in the first image, a being a second gain factor by which reference pixel values (x i) are multiplied to equal y in the second image. minimizing J'=Y.t wherein Y = [y y], y = [y 1... y i... y I] T being a vector formed with the I reference pixel values as recorded in the first image and y = [y 1... y i... y I] T being a vector formed with the I reference pixel values as recorded in the second image, and y = [y 1... y i... y I] T being a vector formed with the I reference pixel values as recorded in the first image and y = [y 1... y i... y I] T being a vector formed with the I reference pixel values as recorded in the second image, and wherein t = [a -a] T is the global gain vector, a being a first gain factor by which reference pixel values (x i) are multiplied to equal y in the first image, a being a second gain factor by which reference pixel values (x i) are multiplied to equal y in the second image. a being a first gain factor by which reference pixel values (x i) are multiplied to equal y in the first image, a being a second gain factor by which reference pixel values (x i) are multiplied to equal y in the second image.