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This paper addresses the problem of determining the kind of three-dimensional reconstructions that can be obtained from a binocular stereo rig for which no three-dimensional metric calibration data is available. The only information at our disposal is a set of pixel correspondences between the two retinas which we assume are obtained by some correlation technique or any other means. We show that even in this case some very rich non-metric reconstructions of the environment can nonetheless be obtained.

What can be seen in three dimensions with an uncalibrated stereo rig?