Robot Vision

536 Pages·1986·22.494 MB·English

by  Berthold K.P. Horn

The MU Electrical Engineering
and Computer Science Series
Robot Vision
Berthold Klaus Paul Horn
The MIT Press
McGraw-Hill Book Company
NUNC COGNOSCO EX PARTE
THOMAS J. BATA LIBRARY
TRENT UNIVERSITY
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Robot Vision
The MIT Electrical Engineering and Computer Science Series
Harold Abelson and Gerald Jay Sussman with Julie Sussman,
Structure and Interpretation of Computer Programs, 1985
William Siebert, Circuits, Signals, and Systems, 1986
Berthold Klaus Paul Horn, Robot Vision, 1986
Barbara Liskov and John Guttag, Abstraction and Specification in
Program Development, 1986
Robot Vision
Berthold Klaus Paul Horn
The MIT Press
Cambridge, Massachusetts London, England
McGraw-Hill Book Company
New York St. Louis San Francisco Montreal Toronto
' Tdc i
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*
This book is one of a series of texts written by faculty of the Electri¬
cal Engineering and Computer Science Department at the Massachusetts
Institute of Technology. It was edited and produced by The MIT Press
under a joint production-distribution arrangement with the McGraw-Hill
Book Company.
Ordering Information:
North America
Text orders should be addressed to the McGraw-Hill Book Company.
All other orders should be addressed to The MIT Press.
Outside North America
All orders should be addressed to The MIT Press or its local distributor.
Sixth Printing, 1990
© 1986 by The Massachusetts Institute of Technology
All rights reserved. No part of this book may be reproduced in any form or
by any electronic or mechanical means (including photocopying, recording,
or information storage and retrieval) without permission in writing from
the publisher.
This book was set under the direction of the author using the T^jX type¬
setting system and was printed and bound by Halliday Lithograph in the
United States of America.
Library of Congress Cataloging in Publication Data
Horn, Berthold Klaus Paul.
Robot vision.
(MIT electrical engineering and computer science
series)
Bibliography: p.
Includes index.
1. Robot vision. I. Title. II. Series
TJ211.3.H67 1986 629.8'92 85-18137
ISBN 0-262-08159-8 (MIT Press)
ISBN 0-07-030349-5 (McGraw-Hill)
Contents
Preface.vq
Acknowledgments. xi
1 Introduction. \
2 Image Formation k Image Sensing. 18
3 Binary Images: Geometrical Properties .... 46
4 Binary Images: Topological Properties.65
5 Regions k Image Segmentation.90
6 Image Processing: Continuous Images.103
7 Image Processing: Discrete Images.144
8 Edges k Edge Finding.161
9 Lightness k Color.185
10 Reflectance Map: Photometric Stereo.202
11 Reflectance Map: Shape from Shading.243
12 Motion Field k Optical Flow.278
13 Photogrammetry k Stereo.299
14 Pattern Classification.334
15 Polyhedral Objects.349
16 Extended Gaussian Images.365
17 Passive Navigation k Structure from Motion . . 400
18 Picking Parts out of a Bin.423
Appendix: Useful Mathematical Techniques . . 453
Bibliography.475
Index.503
V
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