Stereopsis for verging systems

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. >