1. A method: determining a disparity map based on a first image and a second image, the disparity map containing a first disparity value of a pixel representing a stationary object in the first image and the second image; comparing a first predetermined kernel image to an area portion of the disparity map including the first disparity value, wherein the first predetermined kernel image contains at least one first disparity value representing a first object and wherein the first predetermined kernel image represents a modified image of a model person's head and shoulders and the modified image has been asymmetrically expanded horizontally; computing a score based on the comparison of the first predetermined kernel image and the area portion; and indicating an object in a stereo-based image based on the first image and the second image, based on the score; wherein the determining, comparing, computing and indicating are performed by one or more processors.