tical center to a point in the scene) with its retinal plane. The first ingredient is obtained through the use of standard (binocular in this case) stereo algorithms, for example the one described in =-=[7]-=-. The reason for the second ingredient should be pretty clear by now. For each point correspondences(m 1 ; m 2 ) between the two reference views, we consider the two image lines he 13 ; m 1 i and he 2