机器视觉算法与应用(第2版)

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