Stereopsis
Encyclopedia
Stereopsis refers to impression of depth that is perceived when a scene is viewed with both eyes by someone with normal binocular vision. Binocular viewing of a scene creates two slightly different images of the scene in the two eyes due the the eyes' different positions on the head. These differences, referred to as binocular disparity
Binocular disparity
Binocular disparity refers to the difference in image location of an object seen by the left and right eyes, resulting from the eyes' horizontal separation. The brain uses binocular disparity to extract depth information from the two-dimensional retinal images in stereopsis...

, provide information that the brain can use to calculate depth in the visual scene. The term stereopsis is often used as short hand for 'binocular vision', 'binocular depth perception' or 'stereoscopic depth perception', though strictly speaking, the impression of depth associated with stereopsis can also be obtained under other conditions, such as when an observer views a scene with only one eye while moving . Observer motion creates differences in the single retinal image over time similar to binocular disparity; this is referred to as motion parallax. Importantly, stereopsis is not usually present when viewing a scene with one eye, when viewing a picture of a scene with both eyes, or when someone with abnormal binocular vision (strabismus
Strabismus
Strabismus is a condition in which the eyes are not properly aligned with each other. It typically involves a lack of coordination between the extraocular muscles, which prevents bringing the gaze of each eye to the same point in space and preventing proper binocular vision, which may adversely...

) views a scene with both eyes. This is despite the fact that in all these three cases humans can still percieve depth relations.

History of stereopsis

Stereopsis was first explained by Charles Wheatstone
Charles Wheatstone
Sir Charles Wheatstone FRS , was an English scientist and inventor of many scientific breakthroughs of the Victorian era, including the English concertina, the stereoscope , and the Playfair cipher...

 in 1838: “… the mind perceives an object of three dimensions by means of the two dissimilar pictures projected by it on the two retinæ …”. He recognized that because each eye views the visual world from slightly different horizontal positions, each eye's image differs from the other. Objects at different distances from the eyes project images in the two eyes that differ in their horizontal positions, giving the depth cue of horizontal disparity, also known as retinal disparity and as binocular disparity
Binocular disparity
Binocular disparity refers to the difference in image location of an object seen by the left and right eyes, resulting from the eyes' horizontal separation. The brain uses binocular disparity to extract depth information from the two-dimensional retinal images in stereopsis...

. Wheatstone showed that this was an effective depth cue by creating the illusion
Illusion
An illusion is a distortion of the senses, revealing how the brain normally organizes and interprets sensory stimulation. While illusions distort reality, they are generally shared by most people....

 of depth from flat pictures that differed only in horizontal disparity. To display his pictures separately to the two eyes, Wheatstone invented the stereoscope.

Leonardo da Vinci
Leonardo da Vinci
Leonardo di ser Piero da Vinci was an Italian Renaissance polymath: painter, sculptor, architect, musician, scientist, mathematician, engineer, inventor, anatomist, geologist, cartographer, botanist and writer whose genius, perhaps more than that of any other figure, epitomized the Renaissance...

 had also realized that objects at different distances from the eyes project images in the two eyes that differ in their horizontal positions, but had concluded only that this made it impossible for a painter to portray a realistic depiction of the depth in a scene from a single canvas. Leonardo chose for his near object a column with a circular cross section and for his far object a flat wall. Had he chosen any other near object, he may have discovered horizontal disparity of its features. His column was one of the few objects that projects identical images of itself in the two eyes.

Stereoscopy became popular during Victorian times with the invention of the prism stereoscope by David Brewster
David Brewster
Sir David Brewster KH PRSE FRS FSA FSSA MICE was a Scottish physicist, mathematician, astronomer, inventor, writer and university principal.-Early life:...

. This, combined with photography
Photography
Photography is the art, science and practice of creating durable images by recording light or other electromagnetic radiation, either electronically by means of an image sensor or chemically by means of a light-sensitive material such as photographic film...

, meant that tens of thousands of stereogram
Stereogram
A stereogram is pair of two-dimensional panels depicting the view of a scene or an object from the vantage points of the right and left eyes. Observing the panels superimposed in a stereoscope results in the experience of three-dimensionality by virtue of the fact that object depth is encoded as...

s were produced.

Until about the 1960s, research into stereopsis was dedicated to exploring its limits and its relationship to singleness of vision. Researchers included Peter Ludvig Panum
Peter Ludvig Panum
Peter Ludvig Panum was a Danish physiologist and pathologist born in Rønne. The Panum Institute in Copenhagen is named in his honor....

, Ewald Hering
Ewald Hering
Karl Ewald Konstantin Hering was a German physiologist who did much research into color vision and spatial perception...

, Adelbert Ames Jr., and Kenneth N. Ogle
Kenneth N. Ogle
Kenneth N. Ogle was a scientist of human vision. Born in Colorado, he earned a bachelor's degree from Colorado College in 1925 and a Ph.D. from Dartmouth College in 1930. He was later awarded an honorary medical degree by the University of Uppsala in Sweden.He spent much of his working life at the...

.

In the 1960s, Bela Julesz
Béla Julesz
Béla Julesz was a visual neuroscientist and experimental psychologist in the fields of visual and auditory perception.Julesz was the originator of random dot stereograms which led to the creation of autostereograms...

 invented random-dot stereograms
Random dot stereogram
Random Dot Stereograms are pairs of images of random dots which when viewed with the aid of a stereoscope, or with the eyes focused on a point behind the images, produce a sensation of depth, with objects appearing to be in front of or behind the actual images....

. Unlike previous stereograms, in which each half image showed recognizable objects, each half image of the first random-dot stereograms showed a square matrix of about 10,000 small dots, with each dot having a 50% probability of being black or white. No recognizable objects could be seen in either half image. The two half images of a random-dot stereogram were essentially identical, except that one had a square area of dots shifted horizontally by one or two dot diameters, giving horizontal disparity. The gap left by the shifting was filled in with new random dots, hiding the shifted square. Nevertheless, when the two half images were viewed one to each eye, the square area was almost immediately visible by being closer or farther than the background. Julesz whimsically called the square a Cyclopean image
Cyclopean image
Cyclopean image is a single mental image of a scene created by the brain by combining two images received from the two eyes. The mental process behind construction of the Cyclopean image is crucial to stereo vision...

 after the mythical Cyclops
Cyclops
A cyclops , in Greek mythology and later Roman mythology, was a member of a primordial race of giants, each with a single eye in the middle of his forehead...

 who had only one eye. This was because it was as though we have a cyclopean eye inside our brains that can see cyclopean stimuli hidden to each of our actual eyes. Random-dot stereograms highlighted a problem for stereopsis, the correspondence problem
Correspondence problem
The correspondence problem tries to figure out which parts of an image correspond to which parts of another image, after the camera has moved, time has elapsed, and/or the objects have moved around.-Overview:...

. This is that any dot in one half image can realistically be paired with many same-coloured dots in the other half image. Our visual systems clearly solve the correspondence problem, in that we see the intended depth instead of a fog of false matches. Research began to understand how.

Also in the 1960s, Horace Barlow
Horace Barlow
Horace Basil Barlow FRS is a British visual neuroscientist.Barlow is the son of the civil servant Sir Alan Barlow and his wife Lady Nora, , and thus the great-grandson of Charles Darwin . He earned an M.D...

, Colin Blakemore
Colin Blakemore
Professor Colin Blakemore, Ph.D., FRS, FMedSci, HonFSB, HonFRCP, is a British neurobiologist who is Professor of Neuroscience at the University of Oxford and University of Warwick specialising in vision and the development of the brain. He was formerly Chief Executive of the British Medical...

, and Jack Pettigrew
Jack Pettigrew
John Douglas Pettigrew is Emeritus Professor of Physiology and Director of the Vision, Touch and Hearing Research Centre at the University of Queensland in Australia.Professor Pettigrew's research interest is in comparative neuroscience...

 found neuron
Neuron
A neuron is an electrically excitable cell that processes and transmits information by electrical and chemical signaling. Chemical signaling occurs via synapses, specialized connections with other cells. Neurons connect to each other to form networks. Neurons are the core components of the nervous...

s in the cat
Cat
The cat , also known as the domestic cat or housecat to distinguish it from other felids and felines, is a small, usually furry, domesticated, carnivorous mammal that is valued by humans for its companionship and for its ability to hunt vermin and household pests...

 visual cortex
Visual cortex
The visual cortex of the brain is the part of the cerebral cortex responsible for processing visual information. It is located in the occipital lobe, in the back of the brain....

 that had their receptive field
Receptive field
The receptive field of a sensory neuron is a region of space in which the presence of a stimulus will alter the firing of that neuron. Receptive fields have been identified for neurons of the auditory system, the somatosensory system, and the visual system....

s in different horizontal positions in the two eyes. This established the neural basis for stereopsis. Their findings were disputed by David Hubel and Torsten Wiesel
Torsten Wiesel
Torsten Nils Wiesel was a Swedish co-recipient with David H. Hubel of the 1981 Nobel Prize in Physiology or Medicine, for their discoveries concerning information processing in the visual system; the prize was shared with Roger W...

, although they eventually conceded when they found similar neurons in the monkey
Monkey
A monkey is a primate, either an Old World monkey or a New World monkey. There are about 260 known living species of monkey. Many are arboreal, although there are species that live primarily on the ground, such as baboons. Monkeys are generally considered to be intelligent. Unlike apes, monkeys...

 visual cortex. In the 1980s, Gian Poggio and others found neurons in V2 of the monkey brain that responded to the depth of random-dot stereograms.

In the 1970s, Christopher Tyler
Christopher Tyler
Christopher W. Tyler is a visual psychophysicist, creator of the autostereogram and is the Head of the Smith-Kettlewell Brain Imaging Center.-Biography:Shortly after earning his PhD at the University of Keele , Dr...

 invented autostereogram
Autostereogram
An autostereogram is a single-image stereogram , designed to create the visual illusion of a three-dimensional scene from a two-dimensional image in the human brain...

s, random-dot stereograms that can be viewed without a stereoscope. This led to the popular Magic Eye
Magic Eye
Magic Eye is a series of books published by N.E. Thing Enterprises . The books feature autostereograms , which allow people to see 3D images by focusing on 2D patterns. The viewer must diverge his or her eyes in order to see a hidden three-dimensional image within the pattern...

 pictures.

In 1989 Medina demonstrated with photographs that retinal images with no parallax disparity but with different shadows are fused stereoscopically, imparting depth perception to the imaged scene. He named the phenomenon "shadow stereopsis." Shadows are therefore an important, stereoscopic cue for depth perception. He showed how effective the phenomenon is by taking two photographs of the Moon at different times, and therefore with different shadows, making the Moon to appear in 3D stereoscopically, despite the absence of any other stereoscopic cue.

Popular culture

A stereoscope is a device by which each eye can be presented with different images, allowing stereopsis to be stimulated with two pictures, one for each eye. This has led to various crazes for stereopsis, usually prompted by new sorts of stereoscopes. In Victorian times it was the prism stereoscope (allowing stereo photograph
Photograph
A photograph is an image created by light falling on a light-sensitive surface, usually photographic film or an electronic imager such as a CCD or a CMOS chip. Most photographs are created using a camera, which uses a lens to focus the scene's visible wavelengths of light into a reproduction of...

s to be viewed), in the 1920s it was red-green glasses (allowing stereo movie
Film
A film, also called a movie or motion picture, is a series of still or moving images. It is produced by recording photographic images with cameras, or by creating images using animation techniques or visual effects...

s to be viewed), in the 1950s it was polarizing glasses
Polarized glasses
Polarized 3D glasses create the illusion of three-dimensional images by restricting the light that reaches each eye, an example of stereoscopy which exploits the polarization of light....

 (allowing coloured
Color
Color or colour is the visual perceptual property corresponding in humans to the categories called red, green, blue and others. Color derives from the spectrum of light interacting in the eye with the spectral sensitivities of the light receptors...

 movies to be viewed), and in the 1990s it was Magic Eye
Magic Eye
Magic Eye is a series of books published by N.E. Thing Enterprises . The books feature autostereograms , which allow people to see 3D images by focusing on 2D patterns. The viewer must diverge his or her eyes in order to see a hidden three-dimensional image within the pattern...

 pictures (autostereogram
Autostereogram
An autostereogram is a single-image stereogram , designed to create the visual illusion of a three-dimensional scene from a two-dimensional image in the human brain...

s). Magic Eye pictures did not require a stereoscope, but relied on viewers using a form of free fusion so that each eye views different images.

Not everyone has the same ability to see using stereopsis. One study shows that 97.3% are able to distinguish depth at horizontal disparities of 2.3 minutes of arc or smaller, and at least 80% could distinguish depth at horizontal differences of 30 seconds of arc.

Geometrical basis for stereopsis

Stereopsis appears to be processed in the visual cortex in binocular cells having receptive field
Receptive field
The receptive field of a sensory neuron is a region of space in which the presence of a stimulus will alter the firing of that neuron. Receptive fields have been identified for neurons of the auditory system, the somatosensory system, and the visual system....

s in different horizontal positions in the two eyes. Such a cell is active only when its preferred stimulus is in the correct position in the left eye and in the correct position in the right eye, making it a disparity
Binocular disparity
Binocular disparity refers to the difference in image location of an object seen by the left and right eyes, resulting from the eyes' horizontal separation. The brain uses binocular disparity to extract depth information from the two-dimensional retinal images in stereopsis...

 detector.

When a person stares at an object, the two eyes converge so that the object appears at the center of the retina
Retina
The vertebrate retina is a light-sensitive tissue lining the inner surface of the eye. The optics of the eye create an image of the visual world on the retina, which serves much the same function as the film in a camera. Light striking the retina initiates a cascade of chemical and electrical...

 in both eyes. Other objects around the main object appear shifted in relation to the main object. In the following example, whereas the main object (dolphin) remains in the center of the two images in the two eyes, the cube is shifted to the right in the left eye's image and is shifted to the left when in the right eye's image.











Because each eye is in a different horizontal position, each has a slightly different perspective on a scene yielding different retina
Retina
The vertebrate retina is a light-sensitive tissue lining the inner surface of the eye. The optics of the eye create an image of the visual world on the retina, which serves much the same function as the film in a camera. Light striking the retina initiates a cascade of chemical and electrical...

l images. Normally two images are not observed, but rather a single view of the scene, a phenomenon known as singleness of vision. Nevertheless, stereopsis is possible with double vision. This form of stereopsis was called qualitative stereopsis by Kenneth Ogle.

If the images are very different (such as by going cross-eyed, or by presenting different images in a stereoscope) then one image at a time may be seen, a phenomenon known as binocular rivalry
Binocular rivalry
Binocular rivalry is a phenomenon of visual perception in which perception alternates between different images presented to each eye.When one image is presented to one eye and a very different image is presented to the other, instead of the two images being seen superimposed, one image is seen for...

.

Computer stereo vision

Computer stereo vision is a part of the field of computer vision
Computer vision
Computer vision is a field that includes methods for acquiring, processing, analysing, and understanding images and, in general, high-dimensional data from the real world in order to produce numerical or symbolic information, e.g., in the forms of decisions...

. It is sometimes used in mobile
Mobile robot
A mobile robot is an automatic machine that is capable of movement in a given environment.-Overview:Mobile robots have the capability to move around in their environment and are not fixed to one physical location...

 robotics
Robotics
Robotics is the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots...

 to detect obstacles. Example applications include the ExoMars
ExoMars
ExoMars is a European-led robotic mission to Mars currently under development by the European Space Agency with collaboration by NASA...

 Rover and surgical robotics.

Two cameras take pictures of the same scene, but they are separated by a distance – exactly like our eyes. A computer compares the images while shifting the two images together over top of each other to find the parts that match. The shifted amount is called the disparity
Binocular disparity
Binocular disparity refers to the difference in image location of an object seen by the left and right eyes, resulting from the eyes' horizontal separation. The brain uses binocular disparity to extract depth information from the two-dimensional retinal images in stereopsis...

. The disparity at which objects in the image best match is used by the computer to calculate their distance.

For a human, the eyes change their angle according to the distance to the observed object. To a computer this represents significant extra complexity in the geometrical calculations (Epipolar geometry
Epipolar geometry
Epipolar geometry is the geometry of stereo vision. When two cameras view a 3D scene from two distinct positions, there are a number of geometric relations between the 3D points and their projections onto the 2D images that lead to constraints between the image points...

). In fact the simplest geometrical case is when the camera image planes are on the same plane. The images may alternatively be converted by reprojection through a linear transformation
Linear transformation
In mathematics, a linear map, linear mapping, linear transformation, or linear operator is a function between two vector spaces that preserves the operations of vector addition and scalar multiplication. As a result, it always maps straight lines to straight lines or 0...

 to be on the same image plane. This is called Image rectification
Image rectification
Image rectification is a transformation process used to project two-or-more images onto a common image plane. It corrects image distortion by transforming the image into a standard coordinate system....

.

Computer stereo vision with many cameras under fixed lighting is called structure from motion
Structure from motion
In computer vision structure from motion refers to the process of finding the three-dimensional structure of an object by analyzing local motion signals over time....

. Techniques using a fixed camera and known lighting are called photometric stereo
Photometric Stereo
Photometric stereo is a technique in computer vision for estimating the surface normals of objects by observing that object under different lighting conditions....

 techniques, or "shape from shading".

Computer stereo display

Many attempts have been made to reproduce human stereo vision on rapidly changing computer displays, and toward this end numerous patents relating to 3D
3-D film
A 3-D film or S3D film is a motion picture that enhances the illusion of depth perception...

 television
Television
Television is a telecommunication medium for transmitting and receiving moving images that can be monochrome or colored, with accompanying sound...

 and cinema
Film
A film, also called a movie or motion picture, is a series of still or moving images. It is produced by recording photographic images with cameras, or by creating images using animation techniques or visual effects...

 have been filed in the USPTO
United States Patent and Trademark Office
The United States Patent and Trademark Office is an agency in the United States Department of Commerce that issues patents to inventors and businesses for their inventions, and trademark registration for product and intellectual property identification.The USPTO is based in Alexandria, Virginia,...

. At least in the US, commercial activity involving those patents has been confined exclusively to the grantees and licensees of the patent holders, whose interests tend to last for twenty years from the time of filing.

Discounting 3D television and cinema (which generally require more than one digital projectors whose moving images are mechanically coupled, in the case of IMAX 3D cinema), several stereoscopic LCDs are going to be offered by Sharp
Sharp Corporation
is a Japanese multinational corporation that designs and manufactures electronic products. Headquartered in Abeno-ku, Osaka, Japan, Sharp employs more than 55,580 people worldwide as of June 2011. The company was founded in September 1912 and takes its name from one of its founder's first...

, which has already started shipping a notebook with a built in stereoscopic LCD. Although older technology required the user to don goggles or visors for viewing computer-generated images, or CGI, newer technology tends to employ Fresnel lens
Fresnel lens
A Fresnel lens is a type of lens originally developed by French physicist Augustin-Jean Fresnel for lighthouses.The design allows the construction of lenses of large aperture and short focal length without the mass and volume of material that would be required by a lens of conventional design...

es or plates over the liquid crystal displays, freeing the user from the need to put on special glasses or goggles.

See also

  • Binocular vision
    Binocular vision
    Binocular vision is vision in which both eyes are used together. The word binocular comes from two Latin roots, bini for double, and oculus for eye. Having two eyes confers at least four advantages over having one. First, it gives a creature a spare eye in case one is damaged. Second, it gives a...

  • Stereoscopy
    Stereoscopy
    Stereoscopy refers to a technique for creating or enhancing the illusion of depth in an image by presenting two offset images separately to the left and right eye of the viewer. Both of these 2-D offset images are then combined in the brain to give the perception of 3-D depth...

  • Computer stereo vision
    Computer stereo vision
    Computer stereo vision is the extraction of 3D information from digital images, such as obtained by a CCD camera. By comparing information about a scene from two vantage points, 3D information can be extracted by examination of the relative positions of objects in the two panels...

  • Horopter
    Horopter
    In studies of binocular vision the horopter is the locus of points in space that yield single vision. This can be defined theoretically as the points in space which are imaged on corresponding points in the two retinas, that is, on anatomically identical points...

  • Orthoptics
  • Vectograph
    Vectograph
    A vectograph is a type of stereoscopic print or transparency viewed using the polarized 3D glasses most commonly associated with projected three-dimensional motion pictures....

  • Correspondence problem
    Correspondence problem
    The correspondence problem tries to figure out which parts of an image correspond to which parts of another image, after the camera has moved, time has elapsed, and/or the objects have moved around.-Overview:...

  • Cyclopean stimuli
    Cyclopean stimuli
    Cyclopean stimuli is a form of visual stimuli that is defined by binocular disparity alone.It was named after the one-eyed Cyclops of Homer’s Odyssey by Bela Julesz. Julesz was a Hungarian radar engineer. He thought that stereopsis might help to discover hidden objects, this might be useful to...

  • Epipolar geometry
    Epipolar geometry
    Epipolar geometry is the geometry of stereo vision. When two cameras view a 3D scene from two distinct positions, there are a number of geometric relations between the 3D points and their projections onto the 2D images that lead to constraints between the image points...

  • Stereoblindness
    Stereoblindness
    Stereoblindness is the inability to see in 3D using stereo vision, resulting in inability to perceive stereoscopic depth by combining and comparing images from the two eyes...

  • Interpupillary distance
    Interpupillary distance
    Interpupillary distance is the distance between the center of the pupils of the two eyes. IPD is critical for the design of binocular viewing systems, where both eye pupils need to be positioned within the exit pupils of the viewing system. These viewing systems include binocular microscopes,...


External links

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