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Contents

Preface vii

1 Introduction 1
1.1 What is computer vision? ............................ 3
1.2 A brief history .................................. 10
1.3 Book overview ................................. 17
1.4 Sample syllabus ................................. 23
1.5 A note on notation ............................... 25
1.6 Additional reading ............................... 25

2 Image formation 27
2.1 Geometric primitives and transformations ................... 29
2.1.1 Geometric primitives .......................... 29
2.1.2 2D transformations ........................... 33
2.1.3 3D transformations ........................... 36
2.1.4 3D rotations ............................... 37
2.1.5 3D to 2D projections .......................... 42
2.1.6 Lens distortions ............................. 52
2.2 Photometric image formation .......................... 54
2.2.1 Lighting ................................. 54
2.2.2 Reflectance and shading ........................ 55
2.2.3 Optics .................................. 61
2.3 The digital camera ............................... 65
2.3.1 Sampling and aliasing ......................... 69
2.3.2 Color .................................. 71
2.3.3 Compression .............................. 80
2.4 Additional reading ............................... 82
2.5 Exercises .................................... 82
3 Image processing 87
3.1 Point operators ................................. 89
3.1.1 Pixel transforms ............................ 91
3.1.2 Color transforms ............................ 92
3.1.3 Compositing and matting ........................ 92
3.1.4 Histogram equalization ......................... 94