An image encoding method includes determining a corresponding point on a target image for encoding, which corresponds to each pixel on a reference image, based on the distance from a camera used for obtaining the reference image to an imaged object, and a positional relationship between cameras; computing a parallax vector from the position of the pixel to the corresponding point in the pixel space; computing a target predictive vector having the same starting point as the parallax vector and components obtained by rounding off the components of the parallax vector; computing a target reference vector having the same starting point as the parallax vector and the same size and direction as a differential vector between the target predictive vector and the parallax vector; and setting a predicted pixel value of a pixel on the target encoding image, which is indicated by the target predictive vector, to a value of a pixel on the reference image, which is indicated by the target reference vector.