Stereopsis for fixating systems

The implications of gaze control and vergence for stereopsis in binocular vision are examined for humans and robots. Vergence control allows the observer to distribute the total scene disparity as desired. The author develops equations for depth and for isodisparity surfaces for verging systems, and uses the latter to show that the useful range of stereopsis in humans is extremely limited. Disparity filtering, a technique that verging systems can use to selectively suppress image features at large disparities, is described. The author examines the relationship between stereopsis with vergence and kinetic depth under fixation. The two modalities give rise to nearly identical equations and are complementary, each being most accurate when the other is least reliable