This paper concerns estimation of surface maps for real scenes having a wide ficld of view
and a wide range of depths. Much research has emphasized stereo disparity as a source of
depth information. To a lesser extent, camera focus and camera vergence have also been
investigated for their utility in depth recovery. We argue that these sources of visual
information have mutually complementary Strengths and weaknesses, and to obtain surface
maps for real Scenes these processes must be integrated. Such integration requires active …