An imaging system for a railway vehicle , comprising: a first imaging module , placed in a leading railway vehicle (RV), for capturing a stereo image of a first area in a traveling direction (D) of the railway vehicle (RV); a second imaging module , placed in the leading railway vehicle (RV) and capable of capturing a second area including a farther area and a nearer area , the farther area being farther than at least the first area , the nearer area overlapping the first area before the farther area , the second imaging module being configured to capture a high-resolution image with resolution higher than resolution of the first imaging module ; and an image processor configured to: calculate a first distance to a first position in the nearer area overlapping the first area , the first distance being calculated from the stereo image captured by the first imaging module , calculate a length corresponding to one pixel of the farther area in the high-resolution image captured by the second imaging module , the length being calculated based on a known size of an object located in the farther area , and estimate a second distance to a second position in the farther area of the second area , the second distance being estimated from the first distance and the length corresponding to one pixel of the farther area . a first imaging module , placed in a leading railway vehicle (RV), for capturing a stereo image of a first area in a traveling direction (D) of the railway vehicle (RV); a second imaging module , placed in the leading railway vehicle (RV) and capable of capturing a second area including a farther area and a nearer area , the farther area being farther than at least the first area , the nearer area overlapping the first area before the farther area , the second imaging module being configured to capture a high-resolution image with resolution higher than resolution of the first imaging module ; and an image processor configured to: calculate a first distance to a first position in the nearer area overlapping the first area , the first distance being calculated from the stereo image captured by the first imaging module , calculate a length corresponding to one pixel of the farther area in the high-resolution image captured by the second imaging module , the length being calculated based on a known size of an object located in the farther area , and estimate a second distance to a second position in the farther area of the second area , the second distance being estimated from the first distance and the length corresponding to one pixel of the farther area . calculate a first distance to a first position in the nearer area overlapping the first area , the first distance being calculated from the stereo image captured by the first imaging module , calculate a length corresponding to one pixel of the farther area in the high-resolution image captured by the second imaging module , the length being calculated based on a known size of an object located in the farther area , and estimate a second distance to a second position in the farther area of the second area , the second distance being estimated from the first distance and the length corresponding to one pixel of the farther area . <EOS>