1. An stereo image processing apparatus, comprising: an image acquirer acquiring images captured by a stereo camera including cameras having recognition ranges of their dynamic ranges differently set; a mapper preprocessing the images to determine mapping areas of the images based on features extracted from the images and mapping the images with reference to the determined mapping areas of the images; a 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 reference line segments determined on the mapping areas.