Direct recovery of three-dimensional scene geometry from binocular stereo disparity

An analysis of disparity is presented. It makes explicit the geometric relations between a stereo disparity field and a differentially project scene. These results show how it is possible to recover three-dimensional surface geometry through first-order (i.e., distance and orientation of a surface relative to an observer) and binocular viewing parameters in a direct fashion from stereo disparity. As applications of the analysis, algorithms have been developed for recovering three-dimensional surface orientation and discontinuities from stereo disparity. The results of applying these algorithms to natural image binocular stereo disparity information are presented