Determining surface orientation from fixated eye position and angular visual extent

While many computer vision algorithms can be used to determine surface orientation information, most require extensive processing (e.g. texture based method). We demonstrate that under fixation, the ratio of angular disparity measures and knowledge of eye position can be used to obtain an estimate of surface orientation. A sensitivity analysis based on accuracy of eye position control parameters is presented. We show that accurate slant can be obtained from a binocular vision system on a mobile robot