Angular Variation as a Monocular Cue for Spatial Perception

Perspective projection presents objects as they are naturally seen by the eye. However, this type of mapping strongly distorts their geometric properties as angles, which are not preserved under perspective transformations. In this work, this angular variation serves to model the visual effect of perspective projection. Thus, knowing that the angular distortion depends on the point of view of the observer, it is demonstrated that it is possible to determine the pose of an object as a consequence of its perspective distortion. It is a computational approach to direct perception in which spatial information of a scene is calculated directly from the optic array. Experimental results show the robustness provided by the use of angles and establishes this 3D measurement technique as an emulation of a visual perception process.