This paper analyzes the relationship between the orientations and the curvature of corre- sponding edges in a stereo image of a scene. Exact relations are given in case of planar scene surfaces, and it is shown that the shape of the disparity surface is determined by the orienta- tion and curvature attributes. For curved surfaces the invariants are derived for a restricted class of scene curves. Experiments with the orientation invariant are reported.
S. I. Olsen, S. I. Olsen,
"Two invariants in edge based stereo analysis", Proc. SPIE 1395, Close-Range Photogrammetry Meets Machine Vision, 13952N (1 August 1990); doi: 10.1117/12.2294338; https://doi.org/10.1117/12.2294338