基本信息

书名： 机器视觉算法与应用（第２版）（清华计算机图书译丛）

出版社： 清华大学出版社

出版日期 2019

ISBN号： 9787302519058

定价  128

内容简介

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，是第一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、三维物体识别以及最先进的分类算法，书中所有示例都基于MVTec公司z新版本的机器视觉软件HALCON 13。

目录

缩略词 I

第 2版前言III

第 1版前言.VII

1 Introduction简介1

2 Image Acquisition图像采集6

2.1 Illumination照明. 6

2.1.1 Electromagnetic Radiation电磁辐射. 6

2.1.2 Types of Light Sources光源类型. 9

2.1.3 Interaction of Light and Matter光与被测物间的相互作用  12

2.1.4 Using the Spectral Composition of the Illumination利用照明的光谱  14

2.1.5 Using the Directional Properties of the Illumination利用照明的方向性  18

2.2 Lenses镜头.25

2.2.1 Pinhole Cameras针孔摄像机  26

2.2.2 Gaussian Optics高斯光学. 27

2.2.3 Depth of Field景深  37

2.2.4 Telecentric Lenses远心镜头  42

2.2.5 Tilt Lenses and the Scheimpflug Principle倾斜镜头和沙姆定律48

2.2.6 Lens Aberrations镜头的像差  53

2.3 Cameras摄像机61

2.3.1 CCD Sensors CCD传感器  62

2.3.2 CMOS Sensors CMOS传感器. 69

2.3.3 Color Cameras彩色摄像机72

2.3.4 Sensor Sizes传感器尺寸75

2.3.5 Camera Performance摄像机性能  77

2.4 Camera–Computer Interfaces摄像机-计算机接口.84

2.4.1 Analog Video Signals模拟视频信号. 85

2.4.2 Digital Video Signals数字视频信号. 92

2.4.3 Generic Interfaces通用接口.116

2.4.4 Image Acquisition Modes图像采集模式131

2.5 3D Image Acquisition Devices三维图像采集设备.134

Contents

2.5.1 Stereo Sensors立体视觉传感器.135

2.5.2 Sheet of Light Sensors片光（激光三角测量）传感器.139

2.5.3 Structured Light Sensors结构光传感器142

2.5.4 Time-of-Flight Cameras飞行时间摄像机151

3 Machine Vision Algorithms机器视觉算法.157

3.1 Fundamental Data Structures基本数据结构.157

3.1.1 Images图像158

3.1.2 Regions区域.160

3.1.3 Subpixel-Precise Contours亚像素精度轮廓.164

3.2 Image Enhancement图像增强165

3.2.1 Gray Value Transformations灰度值变换165

3.2.2 Radiometric Calibration辐射标定170

3.2.3 Image Smoothing图像平滑181

3.2.4 Fourier Transform傅里叶变换198

3.3 Geometric Transformations几何变换205

3.3.1 Affine Transformations仿射变换206

3.3.2 Image Transformations图像变换209

3.3.3 Projective Image Transformations投影图像变换.216

3.3.4 Polar Transformations极坐标变换.218

3.4 Image Segmentation图像分割220

3.4.1 Thresholding阈值分割.220

3.4.2 Extraction of Connected Components提取连通区域.233

3.4.3 Subpixel-Precise Thresholding亚像素精度阈值分割237

3.5 Feature Extraction特征提取240

3.5.1 Region Features区域特征241

3.5.2 Gray Value Features灰度值特征248

3.5.3 Contour Features轮廓特征254

3.6 Morphology形态学.256

3.6.1 Region Morphology区域形态学257

3.6.2 Gray Value Morphology灰度值形态学282

3.7 Edge Extraction边缘提取288

3.7.1 Definition of Edges边缘定义289

3.7.2 1D Edge Extraction一维边缘提取295

3.7.3 2D Edge Extraction二维边缘提取305

3.7.4 Accuracy and Precision of Edges边缘的准确度和精确度.317

Contents

3.8 Segmentation and Fitting of Geometric Primitives几何基元的分割和拟合328 

3.8.1 Fitting Lines直线拟合.329

3.8.2 Fitting Circles圆拟合336

3.8.3 Fitting Ellipses椭圆拟合.338

3.8.4 Segmentation of Contours轮廓分割.341

3.9 Camera Calibration摄像机标定.347

3.9.1     Camera Models for Area Scan Cameras with Regular Lenses普通镜头与面阵摄像机组成的摄像机模型.349 

3.9.2     Camera Models for Area Scan Cameras with Tilt Lenses倾斜镜头和面阵摄像机组成的摄像机模型.357 

3.9.3     Camera Model for Line Scan Cameras线阵摄像机的摄像机模型363

3.9.4     Calibration Process标定过程.370

3.9.5     World Coordinates from Single Images从单幅图像中提取世界坐标380

3.9.6     Accuracy of the Camera Parameters摄像机参数的准确度.386

3.10     3D Reconstruction三维重构.390

3.10.1 Stereo Reconstruction立体重构.390

3.10.2 Sheet of Light Reconstruction激光三角测量法（片光）重建412

3.10.3 Structured Light Reconstruction结构光重建416

3.11     Template Matching模板匹配.424

3.11.1 Gray-Value-Based Template Matching基于灰度值的模板匹配.426

3.11.2 Matching Using Image Pyramids使用图形金字塔进行匹配434

3.11.3 Subpixel-Accurate Gray-Value-Based Matching基于灰度值的亚像素精度匹配.441 

3.11.4 Template Matching with Rotations and Scalings带旋转与缩放的模板匹配.441 

3.11.5 Robust Template Matching可靠的模板匹配算法.443

3.12 3D Object Recognition三维物体识别476

3.12.1 Deformable Matching变形匹配478

3.12.2 Shape-Based 3D Matching基于形状的三维匹配493

3.12.3 Surface-Based 3D Matching基于表面的三维匹配510

3.13     Hand–Eye Calibration手眼标定.526

3.13.1 Introduction前言527

3.13.2 Problem Definition问题定义529

3.13.3 Dual Quaternions and Screw Theory对偶四元数和螺旋理论.533

3.13.4 Linear Hand–Eye Calibration线性手眼标定540

3.13.5 Nonlinear Hand–Eye Calibration非线性手眼标定.545

3.13.6 Hand–Eye Calibration of SCARA Robots SCARA机器人手眼标定.547

3.14     Optical Character Recognition光学字符识别(OCR) .551

3.14.1 Character Segmentation字符分割552

Contents

3.14.2 Feature Extraction特征提取555

3.15     Classification分类.560

3.15.1 Decision Theory决策理论560

3.15.2     Classifiers Based on Estimating Class Probabilities基于估计概率的分类器.566 

3.15.3     Classifiers Based on Constructing Separating Hypersurfaces基于构造分离超曲面的分类器.573 

3.15.4 Example of Using Classifiers for OCR使用分类器用于OCR的例子606

4 Machine Vision Applications机器视觉应用.608

4.1 Wafer Dicing半导体晶片切割608

4.1.1     Determining the Width and Height of the Dies确定芯片的宽度和高度609

4.1.2     Determining the Position of the Dies确定芯片的位置.612

4.1.3     exercises练习616

4.2 Reading of Serial Numbers序列号读取.617

4.2.1     Rectifying the Image Using a Polar Transformation使用极坐标变换对图像进行校正618 

4.2.2     Segmenting the Characters字符分割622

4.2.3     Reading the Characters读取字符.624

4.2.4     exercises练习625

4.3 Inspection of Saw Blades锯片检测.626

4.3.1     Extracting the Saw Blade Contour提取锯片的轮廓627

4.3.2     Extracting the Teeth of the Saw Blade提取锯片上的锯齿.628

4.3.3     Measuring the Angles of the Teeth of the Saw Blade测量锯片锯齿的角度.630

4.3.4     exercises练习632

4.4 Print Inspection印刷检测632

4.4.1     Creating the Model of the Correct Print on the Relay创建继电器上正确印刷信息的模型.633 

4.4.2     Creating the Model to Align the Relays创建一个用于对齐继电器的模型.635

4.4.3     Performing the Print Inspection印刷检测636

4.4.4     exercises练习637

4.5 Inspection of Ball Grid Arrays BGA封装检查638

4.5.1     Finding Balls with Shape Defects找出有形状缺陷的焊锡球.639

4.5.2     Constructing a Geometric Model of a Correct BGA构造一个正确的BGA几何模型642 

4.5.3     Finding Missing and Extraneous Balls检测缺失或多余的焊锡球644

4.5.4     Finding Displaced Balls检测位置错误的焊锡球.647

Contents 

XV

4.5.5     exercises练习649

4.6     Surface Inspection表面检测.649

4.6.1 Segmenting the Doorknob分割门把手651

4.6.2 Finding the Surface to Inspect找到需要检测的平面652

4.6.3     Detecting Defects缺陷检测657

4.6.4     exercises练习660

4.7     Measurement of Spark Plugs火花塞测量660

4.7.1 Calibrating the Camera标定摄像机.662

4.7.2 Determining the Position of the Spark Plug确定火花塞的位置.664

4.7.3     Performing the Measurement测量.666

4.7.4     exercises练习669

4.8     Molding Flash Detection模制品披峰检测.669

4.8.1     Molding Flash Detection Using Region Morphology区域形态学方法检测模制品毛边671 

4.8.2     Molding Flash Detection with Subpixel-Precise Contours使用亚像素精度轮廓检测模制品毛边.675 

4.8.3     exercises练习679

4.9     Inspection of Punched Sheets冲孔板检查.679

4.9.1 Extracting the Boundaries of the Punched Sheets提取冲孔板的边界.681

4.9.2     Performing the Inspection边缘检测.683

4.9.3     exercises练习685

4.10     3D Plane Reconstruction with Stereo使用双目立体视觉系统进行三维平面重构.685 

4.10.1 Calibrating the Stereo Setup标定立体视觉系统686

4.10.2 Performing the 3D Reconstruction and Inspection进行三维重构及检测.688

4.10.3 exercises练习695

4.11     Pose Verification of Resistors电阻姿态检验.695

4.11.1 Creating Models of the Resistors创建电阻模型.696

4.11.2 Verifying the Pose and Type of the Resistors检测电阻的位姿和类型.700

4.11.3 exercises练习703

4.12     Classification of Non-Woven Fabrics非织造布分类.704

4.12.1 Training the Classifier训练分类器704

4.12.2 Performing the Texture Classification进行纹理分类708

4.12.3 exercises练习710

4.13     Surface Comparison表面比对.711

4.13.1 Creating the Reference Model创建参考模型.711

4.13.2 Reconstructing and Aligning Objects重构和对齐物体.714

Contents

4.13.3 Comparing Objects and Classifying Errors对比物体并且对错误进行分类.715

4.13.4 exercises练习722

4.14 3D Pick-and-Place三维取放.722

4.14.1 Performing the Hand–Eye Calibration手眼标定.723

4.14.2 Defining the Grasping Point定义抓取点.728

4.14.3 Picking and Placing Objects取放物体731

4.14.4 exercises练习733

References参考文献735

Index索引.751