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Preface xxii

help of Jake Warde. We thank them both. Leslie Galen, Joe Albrecht, and Dianne
Parish, of Integre Technical Publishing, helped us overcome numerous issues with
proofreading and illustrations in the first edition.
Our editor for the second edition, Tracy Dunkelberger, organized reviews
with the help of Carole Snyder. We thank them both. We thank Marilyn Lloyd for
helping us get over various production problems.
Both the overall coverage of topics and several chapters were reviewed by
various colleagues, who made valuable and detailed suggestions for their revision.
We thank Narendra Ahuja, Francis Bach, Kobus Barnard, Margaret Fleck, Martial
Hebert, Julia Hockenmaier, Derek Hoiem, David Kriegman, Jitendra Malik, and
Andrew Zisserman.
A number of people contributed suggestions, ideas for figures, proofreading
comments, and other valuable material, while they were our students. We thank
Okan Arikan, Louise Benoˆıt, Tamara Berg, S´ebastien Blind, Y-Lan Boureau, Liang-
Liang Cao, Martha Cepeda, Stephen Chenney, Frank Cho, Florent Couzinie-Devy,
Olivier Duchenne, Pinar Duygulu, Ian Endres, Ali Farhadi, Yasutaka Furukawa,
Yakup Genc, John Haddon, Varsha Hedau, Nazli Ikizler-Cinbis, Leslie Ikemoto,
Sergey Ioffe, Armand Joulin, Kevin Karsch, Svetlana Lazebnik, Cathy Lee, Binbin
Liao, Nicolas Loeff, Julien Mairal, Sung-il Pae, David Parks, Deva Ramanan, Fred
Rothganger, Amin Sadeghi, Alex Sorokin, Attawith Sudsang, Du Tran, Duan Tran,
Gang Wang, Yang Wang, Ryan White, and the students in several offerings of our
vision classes at UIUC, U.C. Berkeley and ENS.
We have been very lucky to have colleagues at various universities use (of-
ten rough) drafts of our book in their vision classes. Institutions whose students
suffered through these drafts include, in addition to ours, Carnegie-Mellon Univer-
sity, Stanford University, the University of Wisconsin at Madison, the University of
California at Santa Barbara and the University of Southern California; there may
be others we are not aware of. We are grateful for all the helpful comments from
adopters, in particular Chris Bregler, Chuck Dyer, Martial Hebert, David Krieg-
man, B.S. Manjunath, and Ram Nevatia, who sent us many detailed and helpful
comments and corrections.
The book has also benefitted from comments and corrections from Karteek
Alahari, Aydin Alaylioglu, Srinivas Akella, Francis Bach, Marie Banich, Serge Be-
longie, Tamara Berg, Ajit M. Chaudhari, Navneet Dalal, Jennifer Evans, Yasutaka
Furukawa, Richard Hartley, Glenn Healey, Mike Heath, Martial Hebert, Janne
Heikkil¨a, Hayley Iben, St´ephanie Jonqui`eres, Ivan Laptev, Christine Laubenberger,
Svetlana Lazebnik, Yann LeCun, Tony Lewis, Benson Limketkai, Julien Mairal, Si-
mon Maskell, Brian Milch, Roger Mohr, Deva Ramanan, Guillermo Sapiro, Cordelia
Schmid, Brigitte Serlin, Gerry Serlin, Ilan Shimshoni, Jamie Shotton, Josef Sivic,
Eric de Sturler, Camillo J. Taylor, Jeff Thompson, Claire Vallat, Daniel S. Wilker-
son, Jinghan Yu, Hao Zhang, Zhengyou Zhang, and Andrew Zisserman.
In the first edition, we said

If you find an apparent typographic error, please email DAF... with
the details, using the phrase “book typo” in your email; we will try to
credit the first finder of each typo in the second edition.

which turns out to have been a mistake. DAF’s ability to manage and preserve