In human binocular vision, the two retinal images are unified into a single image with perception of depth through a mechanism called `binocular sensory fusion.' The term cyclopean vision refers to the unified visual scene of the world obtained from fusion of the images projected to the two eyes. This paper describes an algorithm which simulates the fusion process for depth perception. The disparity information of the entire image is obtained by a convolution operation followed by a local maxima detection. The computation burden, and therefore, the processing time, is largely reduced.
"Cyclopean stereovision for depth perception", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150194; https://doi.org/10.1117/12.150194