机器视觉算法与应用（第２版）
本书是机器视觉领域的畅销书，自第1版出版以来广受欢迎，是*本有关机器视觉软件的教材，详细介绍了机器视觉的各种算法，以及有关这些算法的实际应用。第2版进行了全面更新、修订和扩展，以反映了年来在图像采集、机器视觉算法和应用领域的发展，新内容包括新的摄像机和图像采集接口、三维传感器及技术、三维重建、三维物体识别以及*的分类算法，书中所有示例都基于MVTec公司*版本的机器视觉软件HALCON13。
目 录
目录
缩略词I
第2版前言III
第1版前言.VII
1Introduction简介1
2ImageAcquisition图像采集6
2.1Illumination照明.6
2.1.1ElectromagneticRadiation电磁辐射.6
2.1.2TypesofLightSources光源类型.9
2.1.3InteractionofLightandMatter光与被测物间的相互作用12
2.1.4UsingtheSpectralCompositionoftheIllumination利用照明的光谱14
2.1.5UsingtheDirectionalPropertiesoftheIllumination利用照明的方向性18
2.2Lenses镜头.25
2.2.1PinholeCameras针孔摄像机26
2.2.2GaussianOptics高斯光学.27
2.2.3DepthofField景深37
2.2.4TelecentricLenses远心镜头42
2.2.5TiltLensesandtheScheimpflugPrinciple倾斜镜头和沙姆定律48
2.2.6LensAberrations镜头的像差53
2.3Cameras摄像机61
2.3.1CCDSensorsCCD传感器62
2.3.2CMOSSensorsCMOS传感器.69
2.3.3ColorCameras彩色摄像机72
2.3.4SensorSizes传感器尺寸75
2.3.5CameraPerformance摄像机性能77
2.4Camera–ComputerInterfaces摄像机-计算机接口.84
2.4.1AnalogVideoSignals模拟视频信号.85
2.4.2DigitalVideoSignals数字视频信号.92
2.4.3GenericInterfaces通用接口.116
2.4.4ImageAcquisitionModes图像采集模式131
2.53DImageAcquisitionDevices三维图像采集设备.134
Contents
2.5.1StereoSensors立体视觉传感器.135
2.5.2SheetofLightSensors片光（激光三角测量）传感器.139
2.5.3StructuredLightSensors结构光传感器142
2.5.4Time-of-FlightCameras飞行时间摄像机151
3MachineVisionAlgorithms机器视觉算法.157
3.1FundamentalDataStructures基本数据结构.157
3.1.1Images图像158
3.1.2Regions区域.160
3.1.3Subpixel-PreciseContours亚像素精度轮廓.164
3.2ImageEnhancement图像增强165
3.2.1GrayValueTransformations灰度值变换165
3.2.2RadiometricCalibration辐射标定170
3.2.3ImageSmoothing图像平滑181
3.2.4FourierTransform傅里叶变换198
3.3GeometricTransformations几何变换205
3.3.1AffineTransformations仿射变换206
3.3.2ImageTransformations图像变换209
3.3.3ProjectiveImageTransformations投影图像变换.216
3.3.4PolarTransformations极坐标变换.218
3.4ImageSegmentation图像分割220
3.4.1Thresholding阈值分割.220
3.4.2ExtractionofConnectedComponents提取连通区域.233
3.4.3Subpixel-PreciseThresholding亚像素精度阈值分割237
3.5FeatureExtraction特征提取240
3.5.1RegionFeatures区域特征241
3.5.2GrayValueFeatures灰度值特征248
3.5.3ContourFeatures轮廓特征254
3.6Morphology形态学.256
3.6.1RegionMorphology区域形态学257
3.6.2GrayValueMorphology灰度值形态学282
3.7EdgeExtraction边缘提取288
3.7.1DefinitionofEdges边缘定义289
3.7.21DEdgeExtraction一维边缘提取295
3.7.32DEdgeExtraction二维边缘提取305
3.7.4AccuracyandPrecisionofEdges边缘的准确度和精确度.317
Contents
3.8SegmentationandFittingofGeometricPrimitives几何基元的分割和拟合328
3.8.1FittingLines直线拟合.329
3.8.2FittingCircles圆拟合336
3.8.3FittingEllipses椭圆拟合.338
3.8.4SegmentationofContours轮廓分割.341
3.9CameraCalibration摄像机标定.347
3.9.1CameraModelsforAreaScanCameraswithRegularLenses普通镜头与面阵摄像机组成的摄像机模型.349
3.9.2CameraModelsforAreaScanCameraswithTiltLenses倾斜镜头和面阵摄像机组成的摄像机模型.357
3.9.3CameraModelforLineScanCameras线阵摄像机的摄像机模型363
3.9.4CalibrationProcess标定过程.370
3.9.5WorldCoordinatesfromSingleImages从单幅图像中提取世界坐标380
3.9.6AccuracyoftheCameraParameters摄像机参数的准确度.386
3.103DReconstruction三维重构.390
3.10.1StereoReconstruction立体重构.390
3.10.2SheetofLightReconstruction激光三角测量法（片光）重建412
3.10.3StructuredLightReconstruction结构光重建416
3.11TemplateMatching模板匹配.424
3.11.1Gray-Value-BasedTemplateMatching基于灰度值的模板匹配.426
3.11.2MatchingUsingImagePyramids使用图形金字塔进行匹配434
3.11.3Subpixel-AccurateGray-Value-BasedMatching基于灰度值的亚像素精度匹配.441
3.11.4TemplateMatchingwithRotationsandScalings带旋转与缩放的模板匹配.441
3.11.5RobustTemplateMatching可靠的模板匹配算法.443
3.123DObjectRecognition三维物体识别476
3.12.1DeformableMatching变形匹配478
3.12.2Shape-Based3DMatching基于形状的三维匹配493
3.12.3Surface-Based3DMatching基于表面的三维匹配510
3.13Hand–EyeCalibration手眼标定.526
3.13.1Introduction前言527
3.13.2ProblemDefinition问题定义529
3.13.3DualQuaternionsandScrewTheory对偶四元数和螺旋理论.533
3.13.4LinearHand–EyeCalibration线性手眼标定540
3.13.5NonlinearHand–EyeCalibration非线性手眼标定.545
3.13.6Hand–EyeCalibrationofSCARARobotsSCARA机器人手眼标定.547
3.14OpticalCharacterRecognition光学字符识别(OCR).551
3.14.1CharacterSegmentation字符分割552
Contents
3.14.2FeatureExtraction特征提取555
3.15Classification分类.560
3.15.1DecisionTheory决策理论560
3.15.2ClassifiersBasedonEstimatingClassProbabilities基于估计概率的分类器.566
3.15.3ClassifiersBasedonConstructingSeparatingHypersurfaces基于构造分离超曲面的分类器.573
3.15.4ExampleofUsingClassifiersforOCR使用分类器用于OCR的例子606
4MachineVisionApplications机器视觉应用.608
4.1WaferDicing半导体晶片切割608
4.1.1DeterminingtheWidthandHeightoftheDies确定芯片的宽度和高度609
4.1.2DeterminingthePositionoftheDies确定芯片的位置.612
4.1.3exercises练习616
4.2ReadingofSerialNumbers序列号读取.617
4.2.1RectifyingtheImageUsingaPolarTransformation使用极坐标变换对图像进行校正618
4.2.2SegmentingtheCharacters字符分割622
4.2.3ReadingtheCharacters读取字符.624
4.2.4exercises练习625
4.3InspectionofSawBlades锯片检测.626
4.3.1ExtractingtheSawBladeContour提取锯片的轮廓627
4.3.2ExtractingtheTeethoftheSawBlade提取锯片上的锯齿.628
4.3.3MeasuringtheAnglesoftheTeethoftheSawBlade测量锯片锯齿的角度.630
4.3.4exercises练习632
4.4PrintInspection印刷检测632
4.4.1CreatingtheModeloftheCorrectPrintontheRelay创建继电器上正确印刷信息的模型.633
4.4.2CreatingtheModeltoAligntheRelays创建一个用于对齐继电器的模型.635
4.4.3PerformingthePrintInspection印刷检测636
4.4.4exercises练习637
4.5InspectionofBallGridArraysBGA封装检查638
4.5.1FindingBallswithShapeDefects找出有形状缺陷的焊锡球.639
4.5.2ConstructingaGeometricModelofaCorrectBGA构造一个正确的BGA几何模型642
4.5.3FindingMissingandExtraneousBalls检测缺失或多余的焊锡球644
4.5.4FindingDisplacedBalls检测位置错误的焊锡球.647
Contents
XV
4.5.5exercises练习649
4.6SurfaceInspection表面检测.649
4.6.1SegmentingtheDoorknob分割门把手651
4.6.2FindingtheSurfacetoInspect找到需要检测的平面652
4.6.3DetectingDefects缺陷检测657
4.6.4exercises练习660
4.7MeasurementofSparkPlugs火花塞测量660
4.7.1CalibratingtheCamera标定摄像机.662
4.7.2DeterminingthePositionoftheSparkPlug确定火花塞的位置.664
4.7.3PerformingtheMeasurement测量.666
4.7.4exercises练习669
4.8MoldingFlashDetection模制品披峰检测.669
4.8.1MoldingFlashDetectionUsingRegionMorphology区域形态学方法检测模制品毛边671
4.8.2MoldingFlashDetectionwithSubpixel-PreciseContours使用亚像素精度轮廓检测模制品毛边.675
4.8.3exercises练习679
4.9InspectionofPunchedSheets冲孔板检查.679
4.9.1ExtractingtheBoundariesofthePunchedSheets提取冲孔板的边界.681
4.9.2PerformingtheInspection边缘检测.683
4.9.3exercises练习685
4.103DPlaneReconstructionwithStereo使用双目立体视觉系统进行三维平面重构.685
4.10.1CalibratingtheStereoSetup标定立体视觉系统686
4.10.2Performingthe3DReconstructionandInspection进行三维重构及检测.688
4.10.3exercises练习695
4.11PoseVerificationofResistors电阻姿态检验.695
4.11.1CreatingModelsoftheResistors创建电阻模型.696
4.11.2VerifyingthePoseandTypeoftheResistors检测电阻的位姿和类型.700
4.11.3exercises练习703
4.12ClassificationofNon-WovenFabrics非织造布分类.704
4.12.1TrainingtheClassifier训练分类器704
4.12.2PerformingtheTextureClassification进行纹理分类708
4.12.3exercises练习710
4.13SurfaceComparison表面比对.711
4.13.1CreatingtheReferenceModel创建参考模型.711
4.13.2ReconstructingandAligningObjects重构和对齐物体.714
Contents
4.13.3ComparingObjectsandClassifyingErrors对比物体并且对错误进行分类.715
4.13.4exercises练习722
4.143DPick-and-Place三维取放.722
4.14.1PerformingtheHand–EyeCalibration手眼标定.723
4.14.2DefiningtheGraspingPoint定义抓取点.728
4.14.3PickingandPlacingObjects取放物体731
4.14.4exercises练习733
References参考文献735
Index索引.751
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