We capture simultaneous images from both cameras and we then use stereoscopy to compute Depth.

我们用两个摄像头同时捕捉图像，然后使用立体视法计算景深。

If you are into stereoscopy, there is also an entire section about that as well.

如果你对立体影像感兴趣，论文里也有一整章关于立体影像的内容。