A computer-implemented matching cost computation method comprising: an obtainment step of obtaining a reference projection image and a target projection image, the reference projection image being an equirectangular projection image corresponding to a reference stereo image and the target projection image being an equirectangular projection image corresponding to a target stereo image, wherein the stereo images are captured by panoramic cameras forming a stereo camera; a determination step of determining, based on a predetermined mapping relationship, a first pixel and a first neighboring region of the first pixel on the reference projection image; a selection step of selecting, based on the predetermined mapping relationship and the first pixel on the reference projection image, a second pixel and a second neighboring region of the second pixel on the target projection image; a computation step of computing, based on the first pixel and the first neighboring region as well as the second pixel and the second neighboring region, a matching cost between the first pixel and the second pixel; and, further comprising: a first calculation step of calculating the predetermined mapping relationship, including a sub step of performing equirectangular projection on the stereo images so as to gain projection images of the stereo images; a sub step of conducting circumscribed plane projection with respect to the stereo images so as to gain perspective images of the stereo images, wherein the circumscribed plane projection corresponds to projecting the stereo images onto a plane tangential to the stereo images and between the stereo images and an object in an actual scene; and a sub step of procuring a correspondence between a first coordinate system of the projection images and a second coordinate system of the perspective images to serve as the predetermined mapping relationship. an obtainment step of obtaining a reference projection image and a target projection image, the reference projection image being an equirectangular projection image corresponding to a reference stereo image and the target projection image being an equirectangular projection image corresponding to a target stereo image, wherein the stereo images are captured by panoramic cameras forming a stereo camera; a determination step of determining, based on a predetermined mapping relationship, a first pixel and a first neighboring region of the first pixel on the reference projection image; a selection step of selecting, based on the predetermined mapping relationship and the first pixel on the reference projection image, a second pixel and a second neighboring region of the second pixel on the target projection image; a computation step of computing, based on the first pixel and the first neighboring region as well as the second pixel and the second neighboring region, a matching cost between the first pixel and the second pixel; and, further comprising: a first calculation step of calculating the predetermined mapping relationship, including a sub step of performing equirectangular projection on the stereo images so as to gain projection images of the stereo images; a sub step of conducting circumscribed plane projection with respect to the stereo images so as to gain perspective images of the stereo images, wherein the circumscribed plane projection corresponds to projecting the stereo images onto a plane tangential to the stereo images and between the stereo images and an object in an actual scene; and a sub step of procuring a correspondence between a first coordinate system of the projection images and a second coordinate system of the perspective images to serve as the predetermined mapping relationship. a sub step of performing equirectangular projection on the stereo images so as to gain projection images of the stereo images; a sub step of conducting circumscribed plane projection with respect to the stereo images so as to gain perspective images of the stereo images, wherein the circumscribed plane projection corresponds to projecting the stereo images onto a plane tangential to the stereo images and between the stereo images and an object in an actual scene; and a sub step of procuring a correspondence between a first coordinate system of the projection images and a second coordinate system of the perspective images to serve as the predetermined mapping relationship.