A distance-measuring apparatus comprising: a plurality of imaging devices configured to obtain a plurality of images; a converter configured to perform matching for the plurality of images obtained by the plurality of imaging devices to convert the plurality of images into first distance information on a pixel-by-pixel basis; an irradiation unit configured to emit a laser beam where at least one of a first laser-beam resolution in a horizontal direction and a second laser-beam resolution in a vertical direction exceeds two degrees; a light receiver configured to obtain a reflected signal obtained when the laser beam is reflected by an object; a distance calculator configured to detect a peak that corresponds to reflection from the object from the reflected signal and calculate second distance information based on a length of time (T) taken to observe the peak after the laser beam is emitted by the irradiation unit ; an integration unit configured to integrate the first distance information and the second distance information with each other; a pixel-range determination unit configured to determine a pixel range corresponding to an irradiation field of one laser beam, wherein the integration unit combines the first distance information in the pixel range with the second distance information in the pixel range; characterised by a cost converter configured to convert a reflected signal received by the light receiver into a LiDAR cost whose value decreases as a value of the reflected signal is greater, wherein the integration unit combines a stereo-matching cost (C ST ) of each pixel obtained by performing block matching with the LiDAR cost. a plurality of imaging devices configured to obtain a plurality of images; a converter configured to perform matching for the plurality of images obtained by the plurality of imaging devices to convert the plurality of images into first distance information on a pixel-by-pixel basis; an irradiation unit configured to emit a laser beam where at least one of a first laser-beam resolution in a horizontal direction and a second laser-beam resolution in a vertical direction exceeds two degrees; a light receiver configured to obtain a reflected signal obtained when the laser beam is reflected by an object; a distance calculator configured to detect a peak that corresponds to reflection from the object from the reflected signal and calculate second distance information based on a length of time (T) taken to observe the peak after the laser beam is emitted by the irradiation unit ; an integration unit configured to integrate the first distance information and the second distance information with each other; a pixel-range determination unit configured to determine a pixel range corresponding to an irradiation field of one laser beam, wherein the integration unit combines the first distance information in the pixel range with the second distance information in the pixel range; characterised by a cost converter configured to convert a reflected signal received by the light receiver into a LiDAR cost whose value decreases as a value of the reflected signal is greater, wherein the integration unit combines a stereo-matching cost (C ST ) of each pixel obtained by performing block matching with the LiDAR cost. <EOS>