1. A stereo matching system using a dynamic programming scheme, the system comprising: an image correction unit to perform an image correction to align scan lines of a left image and a right image; a matching cost calculating unit to calculate a matching cost with respect to the corrected left image and right image; a stereo matching unit to perform viterbi algorithm stereo matching using at least two different penalty of disparity discontinuity (PD) values with respect to the calculated matching cost, and thereby obtain a plurality of disparity maps according to the PD values; a constraint condition applying unit to invalidate pixels of an occlusion area of each disparity map in the plurality of disparity maps; and a matching result synthesizing unit to synthesize the plurality of disparity maps in which the pixels of the occlusion area are invalidated, and thereby output a synthesized disparity map.