The goal is to describe a computer stereo vision system based on the well-known edge detection principles. The system provides surface recovering well enough both for far and close objects using two photos of the surface.
D. V. Tyukavkin,
N. D. Beklemishev,
"Contour-based computer stereo vision system", Proc. SPIE 2646, Digital Photogrammetry and Remote Sensing '95, (1 December 1995); doi: 10.1117/12.227876; https://doi.org/10.1117/12.227876