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A computational theory of human stereo vision

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From the Retina to the Neocortex

Abstract

An algorithm is proposed for solving the stereoscopic matching problem. The algorithm consists of five steps: (1) Each image is filtered at different orientations with bar masks of four sizes that increase with eccentricity; the equivalent filters are one or two octaves wide. (2) Zero-crossings in the filtered images, which roughly correspond to edges, are localized. Positions of the ends of lines and edges are also found. (3) For each mask orientation and size, matching takes place between pairs of zero-crossings or terminations of the same sign in the two images, for a range of disparities up to about the width of the mask’s central region. (4) Wide masks can control vergence movements, thus causing small masks to come into correspondence. (5) When a correspondence is achieved, it is stored in a dynamic buffer, called the 2½-D sketch.

A preliminary and lengthier version of this theory is available from the M.I.T. A.I. Laboratory as Memo 451 (1977).

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Author information

Authors and Affiliations

  1. Psychology Department, M.I.T., 79 Amherst Street, Cambridge, Ma, 02139, USA

    D. Marr

  2. Max-Planck-Institut für Biologische Kybernetik, 7400, Tübingen, Spemannstrasse 38, Germany

    T. Poggio

  3. Brain and Cognitive Sciences, Artificial Intelligence Laboratory, USA

    Ellen C. Hildreth (Associate Professor, Co-Director)

  4. Center for Biological Information Processing, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA

    Ellen C. Hildreth (Associate Professor, Co-Director)

  5. Electrical Engineering and Computer Sciences, Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA

    W. Eric L. Grimson (Associate Professor)

Authors
  1. D. Marr
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  2. T. Poggio
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  3. Ellen C. Hildreth
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  4. W. Eric L. Grimson
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Editor information

Editors and Affiliations

  1. Intelligent Systems Laboratory, College of Engineering and Department of Neurology, Boston University, USA

    Lucia Vaina

  2. Division of Health Sciences and Technology, Harvard — Massachusetts Institute of Technology, USA

    Lucia Vaina

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© 1991 Birkhäuser Boston

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Marr, D., Poggio, T., Hildreth, E.C., Grimson, W.E.L. (1991). A computational theory of human stereo vision. In: Vaina, L. (eds) From the Retina to the Neocortex. Birkhäuser Boston. https://doi.org/10.1007/978-1-4684-6775-8_11

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  • DOI: https://doi.org/10.1007/978-1-4684-6775-8_11

  • Publisher Name: Birkhäuser Boston

  • Print ISBN: 978-1-4684-6777-2

  • Online ISBN: 978-1-4684-6775-8

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