1. A multi-lens camera system comprising: multiple camera units, the multiple camera units include multiple optical filters and multiple image sensors, the multiple image sensors capture images via the multiple optical filters, each of the multiple optical filters include multiple filter regions, each of the multiple filter regions include different optical characteristics respectively, the multiple filter regions include a clear filter region which corresponds to a central image region of the captured images and a color filter region which corresponds to an upper image region of the captured images; and an image processor operably connected to the multiple camera units, the image processor configured to, execute different types of image processing on the captured images to form an image that contains multiple image regions, each of the multiple image regions include different characteristics depending on the optical characteristics of the multiple filter regions, the multiple image regions include the central image region and the upper image region, perform a parallax calculation for the clear filter region of the central image region of the captured images, and recognize a target in the color filter region of the upper image region of the captured images based on color information.