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MACHINE VISION Ramesh Jain, Rangachar Kasturi, Brian G. Schunck
Published by
McGraw-Hill, Inc., ISBN 0-07-032018-7, 1995 The field of machine vision, or
computer vision, has been growing at a fast pace. As in most fast-developing
fields, not all aspects of machine vision that are of interest to active
researchers are useful to the designers and users of a vision system for a
specific application. This text is intended to
provide a balanced introduction to machine vision. Basic concepts are
introduced with only essential mathematical elements. The details to allow
implementation and use of vision algorithm in practical application are
provided, and engineering aspects of techniques are emphasized. This text
intentionally omits theories of machine vision that do not have sufficient
practical applications at the time. This book is designed for
people who want to apply machine vision to solve problems.
Chapter Index:
Chapter 1. Introduction (pp. 1-24) 1.1 Machine Vision 1.2 Relationships to Other Fields 1.3 Role of Knowledge 1.4 Image Geometry
1·4.l Perspective Projection
1.4.2 Coordinate Systems 1.5 Sam ling and Quantization 1.6 Image Definitions 1.7 Levels of Computation
1.7.1 Point Level
1.7.2 Local Level
1.7.3 Global Level
1.7.4 Object Level 1.8 Road Map
Chapter 2. Binary Image Processing (pp. 25-72) 2.1 Thresholding 2.2 Geometric Properties 2.2.1 Size
2.2.2
Position
2.2.3
Orientation 2.3 Projections 2.4 Run-Length
Encoding 2.5 Binary
Algorithms 2.5.1
Definitions 2.5.2 Component
Labeling 2.5.3 Size
Filter 2.5.4 Euler
Number 2.5.5 Region
Boundary 2.5.6 Area and
Perimeter 2.5.7
Compactness 2.5.8 Distance
Measures 2.5.9 Distance
Transforms 2.5.10 Medial
Axis 2.5.11 Thinning 2.5.12 Expanding
and Shrinking 2.6 Morphological Operators 2.7 Optical Character Recognition
Chapter 3. Regions (pp. 73-111) 3.1 Regions and Edges 3.2 Region Segmentation 3.2.1
Automatic Thresholding 3.2.2
Limitations of Histogram Methods 3.3 Region Representation 3.3.1
Array Representation 3.3.2
Hierarchical Representations 3.3.3
Symbolic Representations 3.3.4
Data Structures for Segmentation 3.4 Split and Merge 3.4.1
Region Merging 3.4.2
Removing Weak Edges 3.4.3
Region Splitting 3.4.4
Split and Merge 3.5 Region
Growing
Chapter 4. Image Filtering (pp. 112-139) 4.1 Image Filtering 4.2 Histogram Modification 4.3 Linear Systems 4.4 Linear Filters 4.5 Median Filter 4.6 Gaussian Smoothing 4.5.1 Rotational Symmetry 4.5.2 Fourier Transform Property 4.5.3 Gaussian Separability 4.5.4 Cascading Gaussians 4.5.5 Designing Gaussian Filters 4.5.6 Discrete
Gaussian Filters
Chapter 5. Edge Detection (pp. 140-185) 5.1 Gradient 5.2 Steps in Edge Detection 5.2.1 Roberts Operator 5.2.2 Sobel Operator 5.2.3 Prewitt Operator 5.2.4 Comparison 5.3 Second
Derivative Operators 5.3.1 Laplacian Operator 5.3.2 Second Directional Derivative 5.4 Laplacian of Gaussian 5.5 Image Approximation 5.6 Gaussian Edge Detection 5.6.1 Canny Edge Detector
5.7 Subpixel Location
Estimation 5.8 Edge Detector Performance 5.8.1 Methods for Evaluating Performance 5.8.2 Figure of Merit 5.9 Sequential Methods 5.10 Line Detection
Chapter 6. Contours (pp. 186-233) 6.1 Geometry of Curves 6.2 Digital Curves 6.2.1 Chain Codes 6.2.2 Slope Representation 6.2.3 Slope Density Function 6.3 Curve Fitting 6.4 Polyline Representation 6.4.1
Polyline Splitting 6.4.2 Segment
Merging 6.4.3
Split and Merge 6.4.4
Hop-Along Algorithm 6.5 Circular Arcs 6.6 Conic Sections 6.7 Spline Curves 6.8 Curve Approximation 6.8.1
Total Regression 6.8.2
Estimating Corners 6.8.3
Robust Regression 6.8.4
Hough Transform 6.9 Fourier Descriptors
Chapter 7. Texture (pp. 234-248) 7.1
Introduction 7.2 Statistical Methods of Texture Analysis 7.3 Structural Analysis of Ordered Texture 7.4 Model-Based Methods for Texture Analysis 7.5 Shape from Texture Chapter 8. Optics (pp. 249-256) 8.1 Lens Equation 8.2 Image Resolution 8.3 Depth of Field 8.4 View Volume 8.5 Exposure
Chapter 9. Shading (pp. 257-275) 9.1 Image Irradiance 9.1.1
Illumination 9.1.2
Reflectance 9.2 Surface Orientation 9.3 The Reflectance Map 9.3.1 Diffuse Reflectance 9.3.2 Scanning Electron Microscopy 9.4 Shape from Shading 9.5 Photometric Stereo
Chapter 10. Color (pp. 276-288) 10.1 Color Physics 10.2 Color Terminology 10.3 Color Perception 10.4 Color Processing 10.5 Color Constancy 10.6 Discussion
Chapter 11. Depth (pp. 289-308) 11.1 Stereo Imaging 11.1.1 Cameras in Arbitrary Position and Orientation 11.2 Stereo Matching 11.2.1 Edge Matching 11.2.2 Region Correlation 11.3 Shape from X 11.4 Range Imaging 11.4.1 Structured Lighting 11.4.2 Imaging Radar 11.5 Active Vision Chapter 12. Calibration (pp. 309-364) 12.1 Coordinate Systems 12.2 Rigid Body Transformations 12.2.1
Rotation Matrices 12.2.2
Axis of Rotation 12.2.3
Unit Quaternions 12.3 Absolute Orientation 12.4 Relative Orientation 12.5 Rectification 12.6 Depth from Binocular Stereo 12.7 Absolute Orientation with Scale 12.8 Exterior Orientation 12.8.1 Calibration Example 12.9 Interior Orientation 12.10 Camera Calibration 12.10.1 Simple Method for Camera Calibration 12.10.2 Affine Method for Camera Calibration 12.10.3 Nonlinear Method for Camera Calibration 12.11 Binocular Stereo Calibration 12.12 Active Triangulation 12.13 Robust Methods 12.14 Conclusions Chapter 13. Curves and Surfaces (pp. 365-405) 13.1 Fields 13.2 Geometry of Curves 13.3 Geometry of Surfaces 13.3.1 Planes 13.3.2 Differential Geometry 13.4 Curve Representations 13.4.1 Cubic Spline Curves 13.5 Surface Representations 13.5.1 Polygonal Meshes 13.5.2 Surface Patches 13.5.3 Tensor-Product Surfaces 13.6 Surface Interpolation 13.6.1 Triangular Mesh Interpolation 13.6.2 Bilinear Interpolation 13.6.3 Robust Interpolation 13.7 Surface Approximation 13.7.1 Regression Splines 13.7.2 Variational Methods 13.7.3 Weighted Spline Approximation 13.8 Surface Segmentation 13.8.1 Initial Segmentation 13.8.2 Extending Surface Patches 13.9 Surface Registration
Chapter 14. Dynamic Vision (pp. 406-458) 14.1 Change Detection 14.1.1 Difference Pictures 14.1.2 Static Segmentation and Matching 14.2 Segmentation Using Motion 14.2.1 Time-Varying Edge Detection 14.2.2 Stationary Camera 14.3 Motion Correspondence 14.4 Image Flow 14.4.1 Computing Image Flow 14.4.2 Feature-Based Methods 14.4.3 Gradient-Based Methods 14.4.4 Variational Methods for Image Flow 14.4.5 Robust Computation of Image Flow 14.4.6 Information in Image Flow 14.5
Segmentation Using a Moving Camera 14.5.1 Ego-Motion Complex Log Mapping 14.5.2 Depth Determination 14.6
Tracking 14.6.1 Deviation Function for Path Coherence 14.6.2 Path Coherence Function 14.6.3 Path Coherence in the Presence of Occlusion 14.6.4 Modified Greedy Exchange Algorithm 14.7 Shape from Motion Chapter 15. Object Recognition (pp. 459-491) 15.1
System Components 15.2
Complexity of Object Recognition 15.3
Object Representation 15.3.1
Observer-Centered Representations 15.3.2
Object-Centered Representations 15.4
Feature Detection 15.5
Recognition Strategies 15.5.1
Classification 15.5.2
Matching 15.5.3 Feature
Indexing 15.6 Verification 15.6.1
Template Matching 15.6.2
Morphological Approach 15.6.3
Symbolic 15.6.4
Analogical Methods
Appendix A. Mathematical Concepts (pp. 492-501) A.1
Analytic Geometry A.2 Linear
Algebra A.3
Variational Calculus A.4
Numerical Methods
Appendix B. Statistical Methods (pp. 502-510) B.1
Measurement Errors B.2 Error
Distributions B.3 Linear
Regression B.4
Nonlinear Regression
Appendix C. Programming Techniques (pp. 511-518) C.1 Image
Descriptors C.2 Mapping
operations C.3 Image
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