دانلود کتاب Robotic Vision: Fundamental Algorithms in MATLAB® (Springer Tracts in Advanced Robotics, 142)

فهرست مطالب :

Foreword Foreword to the Second Edition Preface Contents Nomenclature 1 Introduction 1.1 About the Book 1.1.1 MATLAB Software and the Toolboxes 1.1.2 Notation, Conventions and Organization 1.1.3 Audience and Prerequisites 1.1.4 Learning with the Book 1.1.5 Teaching with the Book 1.1.6 Outline Part I Foundations 2 Representing Position and Orientation 2.1 Working in Two Dimensions (2D) 2.1.1 Orientation in 2-Dimensions 2.1.2 Pose in 2-Dimensions 2.2 Working in Three Dimensions (3D) 2.2.1 Orientation in 3-Dimensions 2.2.2 Pose in 3-Dimensions 2.3 Advanced Topics 2.3.1 Normalization 2.3.2 Understanding the Exponential Mapping 2.3.3 More About Twists 2.3.4 Derivative of Pose 2.3.5 Transforming Spatial Velocities 2.3.6 Incremental Rotation 2.4 Using the Toolbox 2.5 Wrapping Up Part II Computer Vision 3 Light and Color 3.1 Spectral Representation of Light 3.1.1 Absorption 3.1.2 Reflectance 3.1.3 Luminance 3.2 Color 3.2.1 The Human Eye 3.2.2 Measuring Color 3.2.3 Reproducing Colors 3.2.4 Chromaticity Space 3.2.5 Color Names 3.2.6 Other Color and Chromaticity Spaces 3.2.7 Transforming between Different Primaries 3.2.8 What Is White? 3.3 Advanced Topics 3.3.1 Color Temperature 3.3.2 Color Constancy 3.3.3 White Balancing 3.3.4 Color Change Due to Absorption 3.3.5 Dichromatic Reflectance 3.3.6 Gamma 3.4 Application: Color Image 3.4.1 Comparing Color Spaces [examples/colorspaces] 3.4.2 Shadow Removal [examples/shadow] 3.5 Wrapping Up 4 Images and Image Processing 4.1 Obtaining an Image 4.1.1 Images from Files 4.1.2 Images from an Attached Camera 4.1.3 Images from a Movie File 4.1.4 Images from the Web 4.1.5 Images from Maps 4.1.6 Images from Code 4.2 Image Histograms 4.3 Monadic Operations 4.4 Dyadic Operations 4.5 Spatial Operations 4.5.1 Linear Spatial Filtering 4.5.2 Template Matching 4.5.3 Nonlinear Operations 4.6 Mathematical Morphology 4.6.1 Noise Removal 4.6.2 Boundary Detection 4.6.3 Hit or Miss Transform 4.6.4 Distance Transform [examples/chamfer_match.m] 4.7 Shape Changing 4.7.1 Cropping 4.7.2 Image Resizing 4.7.3 Image Pyramids 4.7.4 Image Warping 4.8 Wrapping Up 5 Image Feature Extraction 5.1 Region Features 5.1.1 Classification 5.1.2 Representation 5.1.3 Description 5.1.4 Summary 5.2 Line Features 5.3 Point Features 5.3.1 Classical Corner Detectors 5.3.2 Scale-Space Corner Detectors 5.4 Wrapping Up Part III The Geometry of Vision 6 Image Formation 6.1 Perspective Camera 6.1.1 Perspective Projection 6.1.2 Modeling a Perspective Camera 6.1.3 Discrete Image Plane 6.1.4 Camera Matrix 6.1.5 Projecting Points 6.1.6 Lens Distortion 6.2 Camera Calibration 6.2.1 Homogeneous Transformation Approach 6.2.2 Decomposing the Camera Calibration Matrix 6.2.3 Pose Estimation 6.2.4 Camera Calibration Toolbox 6.3 Wide Field-of-View Imaging 6.3.1 Fisheye Lens Camera 6.3.2 Catadioptric Camera 6.3.3 Spherical Camera 6.4 Unified Imaging 6.4.1 Mapping Wide-Angle Images to the Sphere 6.4.2 Mapping from the Sphere to a Perspective Image 6.5 Novel Cameras 6.5.1 Multi-Camera Arrays 6.5.2 Light-Field Cameras 6.6 Advanced Topics 6.6.1 Projecting 3D Lines and Quadrics 6.6.2 Nonperspective Cameras 6.6.3 Camera and Image Motion 6.7 Wrapping Up 7 Using Multiple Images 7.1 Feature Correspondence 7.2 Geometry of Multiple Views 7.2.1 The Fundamental Matrix 7.2.2 The Essential Matrix 7.2.3 Estimating the Fundamental Matrix from Real Image Data 7.2.4 Planar Homography 7.3 Stereo Vision 7.3.1 Sparse Stereo 7.3.2 Dense Stereo Matching 7.3.3 Peak Refinement 7.3.4 Cleaning up and Reconstruction 7.3.5 3D Texture Mapped Display 7.3.6 Anaglyphs 7.3.7 Image Rectification 7.4 Bundle Adjustment 7.5 Point Clouds 7.5.1 Fitting a Plane 7.5.2 Matching Two Sets of Points 7.6 Structured Light 7.7 Applications 7.7.1 Perspective Correction 7.7.2 Mosaicing [examples/mosaic] 7.7.3 Image Matching and Retrieval [examples/retrieval] 7.7.4 Visual Odometry [examples/vodemo] 7.8 Wrapping Up Appendices A Installing the Toolboxes B Linear Algebra Refresher B.1 Vectors B.2 Matrices C Geometry C.1 Euclidean Geometry C.2 Homogeneous Coordinates C.3 Geometric Transformations D Lie Groups and Algebras E Linearization, Jacobians and Hessians F Solving Systems of Equations F.1 Linear Problems F.2 Nonlinear Problems G Graphs H Peak Finding Bibliography Index