Abstract
The implications of vergence control and active vision for
stereopsis in robots and humans are investigated. It is argued that the
geometry of verging systems places strong constraints on the ecological
role of stereopsis. In particular, stereopsis is poorly suited to
building whole-field depth maps but well suited to gathering information
about specific targets of interest in the scene in a coordinate frame
referenced to the fixation point. A simple, fast stereo system targeted
at the latter goal is presented
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