Determining surface orientation from xated eye position andangular visual

While many computer vision algorithms can be used to determine surface orientation information, most require extensive processing (e.g. texture based method). In this paper we demonstrate that under xation, the ratio of angular disparity measures and knowledge of eye position can be used to obtain an estimate of surface orientation. A sensitivity analysis based on accuracy of eye position control parameters is presented. We show that accurate slant can be obtained from a binocular vision system on a mobile robot.