  The geometry of binocular projection is analyzed, with reference to the
primate visual system. In particular, the effects of coordinated eye movements
on the retinal images are investigated. An appropriate oculomotor
parameterization is defined, and is shown to complement the classical version
and vergence angles. The midline horopter is identified, and subsequently used
to construct the epipolar geometry of the system. It is shown that the
Essential matrix can be obtained by combining the epipoles with the projection
of the midline horopter. A local model of the scene is adopted, in which depth
is measured relative to a plane containing the fixation point. The binocular
disparity field is given a symmetric parameterization, in which the unknown
scene-depths determine the location of corresponding image-features. The
resulting Cyclopean depth-map can be combined with the estimated oculomotor
parameters, to produce a local representation of the scene. The recovery of
visual direction and depth from retinal images is discussed, with reference to
the relevant psychophysical and neurophysiological literature.
