Computer vision: algorithms and applications

Contents......Page 5
Preface......Page 15
List of symbols......Page 21
Introduction......Page 23
A brief history......Page 33
Overview......Page 40
Image formation......Page 51
Geometric primitives......Page 54
2D transformations......Page 57
3D transformations......Page 61
3D to 2D projections......Page 68
Lens distortions......Page 80
Lighting......Page 82
Reflectance and shading......Page 83
Optics......Page 90
The digital camera......Page 95
Sampling and aliasing......Page 99
Color......Page 102
Compression......Page 113
Exercises......Page 114
Image processing......Page 119
Local operators......Page 121
Pixel transforms......Page 123
Color transforms......Page 124
Compositing and matting......Page 125
Histogram equalization......Page 127
Linear filtering......Page 131
Non-linear filtering......Page 143
Morphology......Page 148
Distance transforms......Page 149
Connected components......Page 151
Fourier transforms......Page 153
Wiener filtering......Page 161
Application: Sharpening, blur, and noise removal......Page 165
Interpolation and decimation......Page 166
Multi-resolution representations......Page 172
Wavelets......Page 178
Application: Image blending......Page 184
Geometric transformations......Page 186
Parametric transformations......Page 187
Mesh-based warping......Page 193
Application: Feature-based morphing......Page 196
Global optimization......Page 197
Regularization......Page 198
Markov Random Fields......Page 203
Application: Image restoration......Page 215
Exercises......Page 216
Feature detection and matching......Page 229
Points......Page 231
Feature detectors......Page 233
Feature descriptors......Page 246
Feature matching......Page 250
Feature tracking......Page 259
Application: Performance-driven animation......Page 261
Edge detection......Page 262
Edge linking......Page 271
Application: Edge editing and enhancement......Page 275
Successive approximation......Page 277
Hough transforms......Page 278
Vanishing points......Page 283
Application: Rectangle detection......Page 285
Active contours......Page 286
Snakes......Page 287
Scissors......Page 296
Level Sets......Page 298
Region segmentation......Page 300
Split and merge......Page 302
Mean shift and mode finding......Page 306
Normalized cuts......Page 313
Graph cuts and energy-based methods......Page 318
Application: Medical image segmentation......Page 321
Exercises......Page 322
Geometric alignment and calibration......Page 331
Least squares......Page 333
Iterative algorithms......Page 334
Robust least squares and RANSAC......Page 336
Uncertainty modeling......Page 338
Linear algorithms......Page 339
Geometric (intrinsic) calibration......Page 340
Calibration patterns......Page 341
Radial distortion......Page 342
Exercises......Page 343
Structure from motion......Page 347
Two-frame structure from motion......Page 349
Self-calibration......Page 350
Factorization......Page 351
Uncertainty and ambiguities......Page 352
Line and plane-based techniques......Page 353
Exercises......Page 354
Dense motion estimation......Page 357
Translational alignment......Page 360
Hierarchical motion estimation......Page 363
Fourier-based alignment......Page 364
Incremental refinement......Page 368
Parametric motion......Page 373
Spline-based motion......Page 378
Optical flow......Page 381
Layered motion......Page 382
Exercises......Page 384
Image stitching......Page 389
Planar perspective motion......Page 392
Application: Whiteboard and document scanning......Page 394
Rotational panoramas......Page 395
Cylindrical and spherical coordinates......Page 399
Bundle adjustment......Page 404
Parallax removal......Page 408
Recognizing panoramas......Page 409
Direct vs. feature-based alignment......Page 410
Choosing a compositing surface......Page 414
Pixel selection and weighting (de-ghosting)......Page 416
Blending......Page 422
Application: Photomontage......Page 425
Exercises......Page 427
Computational photography......Page 429
Radiometric response function.......Page 432
Vignetting......Page 436
Optical blur (spatial response estimation)......Page 437
High dynamic range imaging......Page 441
Tone mapping......Page 449
Application: Flash photography......Page 457
Super-resolution and blur removal......Page 459
Color image de-mosaicing......Page 460
Image matting and compositing......Page 461
Blue screen matting......Page 462
Natural image matting......Page 464
Optimization-based matting......Page 468
Non-photorealistic rendering......Page 473
Exercises......Page 474
Stereo correspondence......Page 481
Epipolar geometry......Page 484
Rectification......Page 485
Plane sweep......Page 487
Sparse correspondence......Page 488
Dense correspondence......Page 489
Similarity measures......Page 490
Local methods......Page 491
Sub-pixel estimation and uncertainty......Page 492
Application: Stereo-based head tracking......Page 493
Global optimization......Page 494
Application: Z-keying (background replacement)......Page 497
Multi-view stereo......Page 498
Volumetric and 3D surface reconstruction......Page 499
Exercises......Page 500
Shape and appearance modeling......Page 503
3D curves and profiles......Page 504
Implicit surfaces and level sets (move to multi-view stereo?)......Page 505
Range data merging......Page 506
Surface interpolation......Page 507
Point-based representations......Page 508
Architecture......Page 509
Whole-body modeling and motion (move to Motion?)......Page 510
Exercises......Page 511
Image-based rendering......Page 513
Geometry images......Page 514
Impostors, sprites, and layers......Page 515
Concentric and manifold mosaics......Page 516
The modeling / rendering continuum......Page 517
Exercises......Page 518
Video-based rendering......Page 521
Video matting......Page 522
Application: Animating pictures......Page 523
Exercises......Page 524
Recognition......Page 525
Face recognition......Page 527
Face and object detection......Page 528
Geometric alignment......Page 529
Category recognition......Page 530
Recognition with segmentation......Page 531
Context and scene understanding......Page 532
Exercises......Page 533
Conclusions (or better title)......Page 535
Linear algebra and numerical techniques......Page 537
Sparse matrix techniques (direct)......Page 538
Iterative techniques......Page 539
Estimation theory and Bayesian inference......Page 541
Estimation theory......Page 543
Maximum likelihood estimation and least squares......Page 545
Prior models and Bayesian inference......Page 546
Belief propagation......Page 547
Graph cuts......Page 548
Kalman filtering......Page 549
Particle filtering......Page 550
Supplementary material......Page 553
Software......Page 554
GPU implementation......Page 556
Slides......Page 559
Bibliography......Page 560
Index......Page 563