We present an integrated approach to the derivation of scene description from binocular stereo images. By inferring the scene description directly from local measurements of both point and line correspondences, we address both the stereo correspondence problem and the surface reconstruction problem simultaneously. We introduce a robust computational technique called tensor voting for the inference of scene description in terms of surfaces, junctions, and region boundaries. The methodology is grounded in two elements: tensor calculus for representation, and non-linear voting for data communication. By efficiently and effectively collecting and analyzing neighborhood information, we are able to handle the tasks of interpolation, discontinuity detection, and outlier identification simultaneously. The proposed method is non-iterative, robust to initialization and thresholding in the preprocessing stage, and the only critical free parameter is the size of the neighborhood. We illustrate the approach with results on a variety of images.