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1 Introduction 1

What is computer vision? • A brief history •
Book overview • Sample syllabus • Notation

n ^ 2 Image formation 27

Geometric primitives and transformations •
Photometric image formation •
The digital camera

3 Image processing 87

Point operators • Linear filtering •
More neighborhood operators • Fourier transforms •
Pyramids and wavelets • Geometric transformations •
Global optimization

4 Feature detection and matching 181

Points and patches •
Edges • Lines

5 Segmentation 235

Active contours • Split and merge •
Mean shift and mode finding • Normalized cuts •
Graph cuts and energy-based methods

6 Feature-based alignment 273

2D and 3D feature-based alignment •
Pose estimation •
Geometric intrinsic calibration

7 Structure from motion 303

Triangulation • Two-frame structure from motion •
Factorization • Bundle adjustment •
Constrained structure and motion