Relative depth from vergence micromovements

Relative depth information can be obtained using extremely fine vergence movements called vergence micromovements about the fixation point with almost no computation and without knowledge of camera parameters. The vergence micromovements approach uses a continuous vergence angle control with simultaneous computation of the local correspondence response of elements with the same relative position in the left and right images. After a complete micromovement cycle a dense relative depth map of the object on the field of view is computed. The relative depth information is stable with respect to the angle of gaze for an initial fixation point slightly far from the midpoint of the interocular line. Experimental results from physiology and psychophysics suggest that the approach is biologically plausible