A stereo image processing apparatus includes an image acquirer acquiring images captured by a stereo camera including cameras having recognition ranges of their dynamic ranges differently set, and a mapper mapping the images with reference to the determined mapping areas of the images determined from the features extracted from the images. The stereo image processing apparatus further includes tracker tracking linear components from the mapping images by the mapper to determine a reference line segment, and a stereo image processor creating a stereo image for the images based on the determined reference line segments determined on the mapping areas.