機(jī)器視覺算法與應(yīng)用（第2版）

目錄
縮略詞 I
第 2版前言III
第 1版前言.VII
1 Introduction簡介1
2 Image Acquisition圖像采集 6
2.1 Illumination照明 . 6
2.1.1 Electromagnetic Radiation電磁輻射 . 6
2.1.2 Types of Light Sources光源類型. 9
2.1.3 Interaction of Light and Matter光與被測物間的相互作用  12
2.1.4 Using the Spectral Composition of the Illumination利用照明的光譜  14
2.1.5 Using the Directional Properties of the Illumination利用照明的方向性  18
2.2 Lenses鏡頭.25
2.2.1 Pinhole Cameras針孔攝像機(jī)  26
2.2.2 Gaussian Optics高斯光學(xué). 27
2.2.3 Depth of Field景深  37
2.2.4 Telecentric Lenses遠(yuǎn)心鏡頭  42
2.2.5 Tilt Lenses and the Scheimpflug Principle傾斜鏡頭和沙姆定律 48
2.2.6 Lens Aberrations鏡頭的像差  53
2.3 Cameras攝像機(jī) 61
2.3.1 CCD Sensors CCD傳感器  62
2.3.2 CMOS Sensors CMOS傳感器. 69
2.3.3 Color Cameras彩色攝像機(jī) 72
2.3.4 Sensor Sizes傳感器尺寸 75
2.3.5 Camera Performance攝像機(jī)性能  77
2.4 Camera–Computer Interfaces攝像機(jī) -計(jì)算機(jī)接口 .84
2.4.1 Analog Video Signals模擬視頻信號(hào). 85
2.4.2 Digital Video Signals數(shù)字視頻信號(hào) . 92
2.4.3 Generic Interfaces通用接口 .116
2.4.4 Image Acquisition Modes圖像采集模式131
2.5 3D Image Acquisition Devices三維圖像采集設(shè)備.134
Contents
2.5.1 Stereo Sensors立體視覺傳感器.135
2.5.2 Sheet of Light Sensors片光（激光三角測量）傳感器.139
2.5.3 Structured Light Sensors結(jié)構(gòu)光傳感器 142
2.5.4 Time-of-Flight Cameras飛行時(shí)間攝像機(jī) 151
3 Machine Vision Algorithms機(jī)器視覺算法 .157
3.1 Fundamental Data Structures基本數(shù)據(jù)結(jié)構(gòu) .157
3.1.1 Images圖像 158
3.1.2 Regions區(qū)域 .160
3.1.3 Subpixel-Precise Contours亞像素精度輪廓 .164
3.2 Image Enhancement圖像增強(qiáng) 165
3.2.1 Gray Value Transformations灰度值變換 165
3.2.2 Radiometric Calibration輻射標(biāo)定170
3.2.3 Image Smoothing圖像平滑 181
3.2.4 Fourier Transform傅里葉變換198
3.3 Geometric Transformations幾何變換205
3.3.1 Affine Transformations仿射變換206
3.3.2 Image Transformations圖像變換209
3.3.3 Projective Image Transformations投影圖像變換.216
3.3.4 Polar Transformations極坐標(biāo)變換 .218
3.4 Image Segmentation圖像分割 220
3.4.1 Thresholding閾值分割.220
3.4.2 Extraction of Connected Components提取連通區(qū)域 .233
3.4.3 Subpixel-Precise Thresholding亞像素精度閾值分割 237
3.5 Feature Extraction特征提取 240
3.5.1 Region Features區(qū)域特征 241
3.5.2 Gray Value Features灰度值特征 248
3.5.3 Contour Features輪廓特征 254
3.6 Morphology形態(tài)學(xué) .256
3.6.1 Region Morphology區(qū)域形態(tài)學(xué)257
3.6.2 Gray Value Morphology灰度值形態(tài)學(xué)282
3.7 Edge Extraction邊緣提取288
3.7.1 Definition of Edges邊緣定義289
3.7.2 1D Edge Extraction一維邊緣提取295
3.7.3 2D Edge Extraction二維邊緣提取305
3.7.4 Accuracy and Precision of Edges邊緣的準(zhǔn)確度和精確度 .317
Contents
3.8 Segmentation and Fitting of Geometric Primitives幾何基元的分割和擬合 328
3.8.1 Fitting Lines直線擬合.329
3.8.2 Fitting Circles圓擬合 336
3.8.3 Fitting Ellipses橢圓擬合 .338
3.8.4 Segmentation of Contours輪廓分割 .341
3.9 Camera Calibration攝像機(jī)標(biāo)定 .347
3.9.1     Camera Models for Area Scan Cameras with Regular Lenses普通鏡頭與面陣攝像機(jī)組成的攝像機(jī)模型.349
3.9.2     Camera Models for Area Scan Cameras with Tilt Lenses傾斜鏡頭和面陣攝像機(jī)組成的攝像機(jī)模型.357
3.9.3     Camera Model for Line Scan Cameras線陣攝像機(jī)的攝像機(jī)模型363
3.9.4     Calibration Process標(biāo)定過程 .370
3.9.5     World Coordinates from Single Images從單幅圖像中提取世界坐標(biāo)380
3.9.6     Accuracy of the Camera Parameters攝像機(jī)參數(shù)的準(zhǔn)確度 .386
3.10     3D Reconstruction三維重構(gòu).390
3.10.1 Stereo Reconstruction立體重構(gòu) .390
3.10.2 Sheet of Light Reconstruction激光三角測量法（片光）重建412
3.10.3 Structured Light Reconstruction結(jié)構(gòu)光重建 416
3.11     Template Matching模板匹配 .424
3.11.1 Gray-Value-Based Template Matching基于灰度值的模板匹配 .426
3.11.2 Matching Using Image Pyramids使用圖形金字塔進(jìn)行匹配 434
3.11.3 Subpixel-Accurate Gray-Value-Based Matching基于灰度值的亞像素精度匹配 .441
3.11.4 Template Matching with Rotations and Scalings帶旋轉(zhuǎn)與縮放的模板匹配.441
3.11.5 Robust Template Matching可靠的模板匹配算法.443
3.12 3D Object Recognition三維物體識(shí)別476
3.12.1 Deformable Matching變形匹配 478
3.12.2 Shape-Based 3D Matching基于形狀的三維匹配 493
3.12.3 Surface-Based 3D Matching基于表面的三維匹配 510
3.13     Hand–Eye Calibration手眼標(biāo)定 .526
3.13.1 Introduction前言 527
3.13.2 Problem Definition問題定義 529
3.13.3 Dual Quaternions and Screw Theory對(duì)偶四元數(shù)和螺旋理論 .533
3.13.4 Linear Hand–Eye Calibration線性手眼標(biāo)定540
3.13.5 Nonlinear Hand–Eye Calibration非線性手眼標(biāo)定 .545
3.13.6 Hand–Eye Calibration of SCARA Robots SCARA機(jī)器人手眼標(biāo)定 .547
3.14     Optical Character Recognition光學(xué)字符識(shí)別 (OCR) .551
3.14.1 Character Segmentation字符分割 552
Contents
3.14.2 Feature Extraction特征提取 555
3.15     Classification分類 .560
3.15.1 Decision Theory決策理論 560
3.15.2     Classifiers Based on Estimating Class Probabilities基于估計(jì)概率的分類器 .566
3.15.3     Classifiers Based on Constructing Separating Hypersurfaces基于構(gòu)造分離超曲面的分類器 .573
3.15.4 Example of Using Classifiers for OCR使用分類器用于 OCR的例子606
4 Machine Vision Applications機(jī)器視覺應(yīng)用.608
4.1 Wafer Dicing半導(dǎo)體晶片切割 608
4.1.1     Determining the Width and Height of the Dies確定芯片的寬度和高度609
4.1.2     Determining the Position of the Dies確定芯片的位置 .612
4.1.3     exercises練習(xí) 616
4.2 Reading of Serial Numbers序列號(hào)讀取 .617
4.2.1     Rectifying the Image Using a Polar Transformation使用極坐標(biāo)變換對(duì)圖像進(jìn)行校正 618
4.2.2     Segmenting the Characters字符分割622
4.2.3     Reading the Characters讀取字符.624
4.2.4     exercises練習(xí) 625
4.3 Inspection of Saw Blades鋸片檢測 .626
4.3.1     Extracting the Saw Blade Contour提取鋸片的輪廓 627
4.3.2     Extracting the Teeth of the Saw Blade提取鋸片上的鋸齒.628
4.3.3     Measuring the Angles of the Teeth of the Saw Blade測量鋸片鋸齒的角度 .630
4.3.4     exercises練習(xí) 632
4.4 Print Inspection印刷檢測 632
4.4.1     Creating the Model of the Correct Print on the Relay創(chuàng)建繼電器上正確印刷信息的模型.633
4.4.2     Creating the Model to Align the Relays創(chuàng)建一個(gè)用于對(duì)齊繼電器的模型 .635
4.4.3     Performing the Print Inspection印刷檢測 636
4.4.4     exercises練習(xí) 637
4.5 Inspection of Ball Grid Arrays BGA封裝檢查 638
4.5.1     Finding Balls with Shape Defects找出有形狀缺陷的焊錫球.639
4.5.2     Constructing a Geometric Model of a Correct BGA構(gòu)造一個(gè)正確的 BGA幾何模型 642
4.5.3     Finding Missing and Extraneous Balls檢測缺失或多余的焊錫球644
4.5.4     Finding Displaced Balls檢測位置錯(cuò)誤的焊錫球.647
Contents
XV
4.5.5     exercises練習(xí) 649
4.6     Surface Inspection表面檢測.649
4.6.1 Segmenting the Doorknob分割門把手651
4.6.2 Finding the Surface to Inspect找到需要檢測的平面652
4.6.3     Detecting Defects缺陷檢測657
4.6.4     exercises練習(xí) 660
4.7     Measurement of Spark Plugs火花塞測量 660
4.7.1 Calibrating the Camera標(biāo)定攝像機(jī) .662
4.7.2 Determining the Position of the Spark Plug確定火花塞的位置 .664
4.7.3     Performing the Measurement測量 .666
4.7.4     exercises練習(xí) 669
4.8     Molding Flash Detection模制品披峰檢測 .669
4.8.1     Molding Flash Detection Using Region Morphology區(qū)域形態(tài)學(xué)方法檢測模制品毛邊 671
4.8.2     Molding Flash Detection with Subpixel-Precise Contours使用亞像素精度輪廓檢測模制品毛邊 .675
4.8.3     exercises練習(xí) 679
4.9     Inspection of Punched Sheets沖孔板檢查 .679
4.9.1 Extracting the Boundaries of the Punched Sheets提取沖孔板的邊界.681
4.9.2     Performing the Inspection邊緣檢測 .683
4.9.3     exercises練習(xí) 685
4.10     3D Plane Reconstruction with Stereo使用雙目立體視覺系統(tǒng)進(jìn)行三維平面重構(gòu) .685
4.10.1 Calibrating the Stereo Setup標(biāo)定立體視覺系統(tǒng) 686
4.10.2 Performing the 3D Reconstruction and Inspection進(jìn)行三維重構(gòu)及檢測 .688
4.10.3 exercises練習(xí) 695
4.11     Pose Verification of Resistors電阻姿態(tài)檢驗(yàn) .695
4.11.1 Creating Models of the Resistors創(chuàng)建電阻模型.696
4.11.2 Verifying the Pose and Type of the Resistors檢測電阻的位姿和類型 .700
4.11.3 exercises練習(xí) 703
4.12     Classification of Non-Woven Fabrics非織造布分類.704
4.12.1 Training the Classifier訓(xùn)練分類器 704
4.12.2 Performing the Texture Classification進(jìn)行紋理分類708
4.12.3 exercises練習(xí) 710
4.13     Surface Comparison表面比對(duì).711
4.13.1 Creating the Reference Model創(chuàng)建參考模型 .711
4.13.2 Reconstructing and Aligning Objects重構(gòu)和對(duì)齊物體 .714
Contents
4.13.3 Comparing Objects and Classifying Errors對(duì)比物體并且對(duì)錯(cuò)誤進(jìn)行分類.715
4.13.4 exercises練習(xí) 722
4.14 3D Pick-and-Place三維取放.722
4.14.1 Performing the Hand–Eye Calibration手眼標(biāo)定 .723
4.14.2 Defining the Grasping Point定義抓取點(diǎn) .728
4.14.3 Picking and Placing Objects取放物體 731
4.14.4 exercises練習(xí) 733
References參考文獻(xiàn) 735
Index索引 .751