'  Each chapter is supported by an extensive list of references and exercises. A ion of algorithms is summarized and presented formally in a manner that should aid implementation. Each chapter further includes a concise Summary section. A suggestion for partitioning the contents with possible course outlines is included in the books front matter. A full set of PowerPoint slides is available for download from this site. PowerPoints include all images and chapter summaries from the text. A stand-alone MATLAB companion book with an accompanying web page contains short answer questions and problems of varying difficulty, frequently requiring practical usage of computer tools and/or development of application programs. 25% of newly written material represented in many new sections. Chapters 2 and 3 were reorganized and enhanced to better present a broad yet not overwhelming foundation, which is used throughout the book. A brand new chapter 7 covering image segmentation methods and approaches with 3D (or higher dimension) capabilities has been added, providing 2 chapters devoted to segmentation, clearly reflecting the importance of this area.

'1. Introduction Motivation / Why is Computer Vision Difficult? / Image Representation and Image Analysis Tasks / Summary / References 2. The Image, its Representations and Properties Image Representations, a Few Concepts / Image Digitization / Sampling / Quantization / Digital Image Properties / Metric and Topological Properties of Digital Images / Histograms / Entropy / Visual Perception of the Image / Image Quality / Noise in Images / Color Images / Physics of Color / Color Perceived by Humans / Color Spaces / Palette Images / Color Constancy / Cameras: An Overview / Photosensitive Sensors / A Monochromatic Camera / A Color Camera / Summary / References 3. The Image, its Mathematical and Physical Background Overview / Linearity / The Dirac Distribution and Convolution / Linear Integral Transforms / Images as Linear Systems / Introduction to Linear Integral Transforms / 1D Fourier Transform / 2D Fourier Transform / Sampling and the Shannon Constraint / Discrete Cosine Transform / Wavelet Transform / Eigen-Analysis / Singular Value Decomposition / Principle Component Analysis / Other Orthogonal Image Transforms / Images as Stochastic Processes / Image Formation Physics / Images as Radiometric Measurements / Image Capture and Geometric Optics / Lens Aberrations and Radial Distortion / Image Capture from a Radiometric Point of View / Surface Reflectance / Summary / References 4. Data Structures for Image Analysis Levels of Image Data Representation / Traditional Image Data Structures / Matrices / Chains / Topological Data Structures / Relational Structures / Hierarchical Data Structures / Pyramids / Quadtrees / Other Pyramidal Structures / Summary / References 5. Image Pre-Processing Pixel Brightness Transformations / Position-Dependent Brightness Correction / Gray-Scale Transformation / Geometric Transformations / Pixel Co-ordinate Transformations / Brightness Interpolation / Local Pre-Processing / Image Smoothing / Edge Detectors / Zero-Crossings of the Second Derivative / Scale in Image Processing / Canny Edge Detection / Parametric Edge Models / Edges in Multi-Spectral Images / Local Detection by Local Pre-Processing Operators / Detection of Corners (Interest Points) / Detection of Maximally Stable Extremal Regions / Image Restoration / Degradations That are Easy to Restore / Inverse Filtration / Wiener Filtration / Summary / References 6. Segmentation I Thresholding / Threshold Detection Methods / Optimal Thresholding / Multi-Spectral Thresholding / Edge Based Segmentation / Edge Image Thresholding / Edge Relaxation / Border Tracing / Border Detection as graph Searching / Border Detection as Dynamic Programming / Hough Transforms / Border Detection Using Border Location Information / Region Construction from Borders / Region Based Segmentation / Region Merging / Region Splitting / Splitting and Merging / Watershed Segmentation / Region Growing Post-Processing / Matching / Matching Criteria / Control Strategies of Matching / Evaluation Issues in Segmentation / Supervised Evaluation / Unsupervised Evaluation / Summary / References 7. Segmentation II Mean Shift Segmentation / Active Contour Models - Snakes / Traditional Snakes and Balloons / Extensions / Gradient Vector Flow Snakes / Geometric Deformable Models - Level Sets and Geodesic Active Contours / Fuzzy Connectivity / Towards 3D Graph-Based Image Segmentation / Simultaneous Detection of Border Pairs / Sub-optimal Surface Detection / Graph Cut Segmentation / Optimal Single and Multiple Surface Segmentation / Summary / References 8. Shape Representation and Description  Region Identification / Contour-Based Shape Representation and Description / Chain Codes / Simple Geometric Border Representation / Fourier Transforms of Boundaries / Boundary Description using Segment Sequences / B-Spline Representation / Other Contour-Based Shape Description Approaches / Shape Invariants / Region-Based Shape Representation and Description / Simple Scalar Region Descriptors / Moments / Convex Hull / Graph Representation Based on Region Skeleton / Region Decomposition / Region Neighborhood Graphs / Shape Classes / Summary / References 9. Object Recognition Knowledge Representation / Statistical Pattern Recognition / Classification Principles / Classifier Setting / Classifier Learning / Support Vector Machines / Cluster Analysis / Neural Nets / Feed-Forward Networks / Unsupervised Learning / Hopefield Neural Nets / Syntactic Pattern Recognition / Grammars and Languages / Syntactic Analysis, Syntactic Classifier / Syntactic Classifier Learning, Grammar Inference / Recognition as Graph Matching / Isomorphism of Graphs and Sub-Graphs / Similarity of Graphs / Optimization Techniques in Recognition / Genetic Algorithms / Simulated Annealing / Fuzzy Systems / Fuzzy Sets and Fuzzy Membership Functions / Fuzzy Set Operators / Fuzzy reasoning / Fuzzy System Design and Training / Boosting in Pattern Recognition / Summary / References 10. Image Understanding Image Understanding Control Strategies / Parallel and Serial Processing Control / Hierarchical Control / Bottom-Up Control / Model-Based Control / Combined Control / Non-Hierarchical Control / RANSAC: Fitting via Random Sample Consensus / Point Distribution Models / Active Appearance Models / Pattern Recognition Methods in Image Understanding / Classification-Based Segmentation / Contextual Image Classification / Boosted Cascade of Classifiers for Rapid Object Detection / Scene Labeling and Constraint Propagation / Discrete Relaxation / Probabilistic Relaxation / Searching Interpretation Trees / Semantic Image Segmentation and Understanding / Semantic Region Growing / Genetic Image Interpretation / Hidden Markov Models / Coupled HMMs / Bayesian Belief Networks / Gaussian Mixture Models and Expectation-Maximization / Summary / References 11. 3D Vision, Geometry 3D Vision Tasks / Marr's Theory / Other Vision Paradigms: Active and Purposive Vision / Basics of Projective Geometry / Points and Hyperplanes in Projective Space / Homography / Estimating Homography from Point Correspondences / A Single Perspective Camera / Camera Model / Projection and Back-Projection in Homogeneous Coordinates / Camera Calibration from a Known Scene / Scene Reconstruction from Multiple Views / Triangulation / Projective Reconstruction / Matching Constraints. Bundle Adjustment / Upgrading the Projective Reconstruction, Self Calibration / Two Cameras, Stereopsis / Epipolar Geometry Fundamental Matrix / Relative Motion of the Camera Essential Matrix / Decomposing the Fundamental Matrix from Point Correspondences / Rectified Configuration of Two Cameras / Computing Rectification / Three Cameras and Trifocal Tensor / Stereo Correspondence Algorithms / Active Acquisition of Range Images / 3D Information from Radiometric Measurements / Shape from Shading / Photometric Stereo / Summary / References   12. Use of 3D Vision Shape from X / Shape from Motion / Shape from Texture / Other Shape from X Techniques / Full 3D Objects / 3D Objects, Models, and Related Issues / Line Labeling / Volumetric Representation, Direct Measurements / Volumetric Modeling Strategies / Surface Modeling Strategies / Registering Surface Patches and their Fusion to get a Full 3D Model / 3D Model-Based Vision / General Considerations / Goad's Algorithm / Model-Based Recognition of Curved Objects from Intensity Images / Model-Based Recognition Based on Range Images / 2D View-Based Representations of a 3D Scene / Viewing Space / Multi-View Representations and Aspect Graphs / Geons as a 2D View-based Structural Representation / Visualizing 3D Real-World Scenes Using Stored Collections of 2D Views / 3D Reconstruction from an Unorganized Set of 2D Vies - A Case Study / Summary / References 13. Mathematical Morphology Basic Morphological Concepts / Four Morphological Principles / Binary Dilation and Erosion / Hit or Miss Transformation / Opening and Closing / Gray-Scale Dilation and Erosion / Top Surface, Umbra, and Gray-Scale Dilation and Erosion / Umbra Homeomorphism Theorem, Properties of Erosion and Dilation, Opening and Closing / Top Hat Transformation / Skeletons and Object Marking / Homotopic Transformations / Skeleton, Maximal Ball / Thinning, Thickening, and Homotopic Skeleton / Quench Function, Ultimate Erosion / Ultimate Erosion and Distance Functions / Geodesic Transformations / Morphological Reconstruction / Granulometry / Morphological Segmentation and Watersheds / Particles Segmentation, Marking, and Watersheds / Binary Morphological Segmentation / Gray-Scale Segmentation, Watersheds / Summary / References 14. Image Data Compression Image Data Properties / Discrete Image Transforms in Image Data Compression / Predictive Compression methods / Vector Quantization / Hierarchical and Progressive Compression Methods / Comparison of Compression Methods / Other Techniques / Coding / JPEG and MPEG - Still Image Compression / JPEG - 2000 Compression / MPEG - Full Motion Video Compression / Summary / References 15. Texture  Statistical Texture Description / Methods Based on Spatial Frequencies / Co-occurrence Matrices / Edge Frequency / Primitive Length (Run Length) / Laws' Texture Energy Measures / Fractal Texture Description / Multiscale Texture Description - Wavelet Domain Approaches / other Statistical Methods of Texture Description / Syntactic Texture Description Methods / Shape Chain Grammars / Graph Grammars / Primitive Grouping in Hierarchical Textures / Hybrid Texture Description methods / Texture Recognition Method Applications / Summary / References 16. Motion Analysis Differential Motion analysis Methods / Optical Flow Computation / Global and Local Optical Flow Estimation / Combined Local - Global Optical Flow Estimation / Optical Flow in Motion Analysis / Analysis Based on Correspondence of Interest Points / Detection of Interest Points / Detection of Interest Points / Correspondence of Interest Points / Detection of Specific Motion Patterns / Video Tracking / Background Modeling / Kernel-Based Tracking / Object Path Analysis / Motion Models to Aid Tracking / Kalman Filters / Particle Filters / Summary / References  

' Milan Sonka   Vaclav Hlavac   Roger Boyle