1. An apparatus for hierarchical stereo matching, the apparatus comprising: a hierarchical structure forming unit configured to form a reduced image by reducing the sizes of left and right images obtained using a stereo camera to a half predetermined times; and a trellis unit configured to perform a first Trellis on the reduced image, and magnify the size and the brightness of the image subjected to the first Trellis and then perform a second Trellis on the magnified image.