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<p>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.</p>
picture processing; pattern recognition; three-dimensional scene geometry; binocular stereo disparity; stereo disparity field; surface geometry; natural image; geometry; pattern recognition; picture processing

R. Wildes, "Direct Recovery of Three-Dimensional Scene Geometry From Binocular Stereo Disparity," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 13, no. , pp. 761-774, 1991.
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