The present invention relates to an apparatus to generate disparity through vertical census transform based stereo matching, capable of reducing the amount of calculations for an overlapped area with respect to calculation between adjacent windows during hamming weight calculation in a stereo matching calculation through census transform, and a method thereof. According to the present invention, the apparatus to generate disparity through vertical census transform based stereo matching comprises: a window setting unit to set a left image window centered on a predetermined position of a left image provided from a stereo camera and to additionally set a right image window of an identical size with respect to one point placed within an expected maximum disparity value while moving in an X-direction in the right image with respect to the predetermined point of the left image; a vertical area generation unit to divide each of the left and right image windows into vertical areas formed with row lines of a predetermined size unit; a hamming weight calculation unit using a brightness difference value between a central pixel and the remaining pixels of the vertical area to generate and store a vertical cell value with respect to the corresponding vertical area, and using the vertical cell value with respect to all vertical areas forming the corresponding window to generate a hamming weight bitstream for the corresponding window; and a disparity information generation unit comparing the hamming weight bitstream for the left and right image windows with a hamming weight bitstream of right image windows with respect to other points placed within the expected maximum disparity value to generate disparity information for the left and right images.
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