1. A stereo matching method for generating a disparity map from stereo images, comprising the steps of: extracting edge images from the stereo images; searching for an edge mask matching an edge form of a window relating to a reference edge pixel from among predefined edge masks mapped to predefined edge forms capable of appearing within a predetermined size window having a center of the reference edge pixel among edge pixels of a reference edge image of the edge images; and searching for an edge pixel located at a center of a window having an edge form matching the searched edge mask from among edge pixels of a search edge image of the edge images and setting the searched edge pixel to a corresponding edge pixel mapped to a corresponding point with respect to the reference edge pixel, wherein, among the edge pixels of the reference edge image, the reference edge pixel is used to currently search for the corresponding edge pixel from the search edge image.