In this paper, we constructed an event-driven binocular vision system and proposed a time-surface-based method for calculating disparities. The event-driven binocular system is composed of two cameras that capture events, single-axis actuators that can externally adjust the baseline length of the left and right cameras, and stepper motors that can externally adjust the convergence angle. The time-surface images are obtained by applying IIR filters to the output signals of the left and right event-based cameras, with each pixel value encoding the time of the event occurrence. The proposed method obtains the disparity map by matching corresponding points in the left and right time-surface images using the block matching method. We validated the proposed method through simulation.