3D计算机视觉:原理、算法及应用 章毓晋 著 专业科技 文轩网

章计算机视觉概述·····································································.1 1.1 人类视觉及特性····································································.1 1.1.1 视觉特点····································································.2 1.1.2 视觉的亮度特性···························································.3 1.1.3 视觉的空间特性···························································.5 1.1.4 视觉的时间特性···························································.6 1.1.5 视知觉·······································································.8 1.2 计算机视觉理论和框架··························································.10 1.2.1 计算机视觉的研究目的、任务和方法·······························.11 1.2.2 视觉计算理论·····························································.11 1.2.3 框架问题和改进··························································.16 1.3 3D 视觉系统和图像技术·························································.18 1.3.1 3D 视觉系统流程·························································.18 1.3.2 计算机视觉和图像技术层次···········································.19 1.3.3 图像技术类别·····························································.20 1.4 本书结构框架和内容概况·······················································.21 1.4.1 结构框架和主要内容····················································.22 1.4.2 各章概况···································································.22 1.5 各节要点和进一步参考··························································.23 第2 章摄像机标定···········································································25 2.1 线性摄像机模型···································································.25 2.1.1 完整成像模型·····························································.26 2.1.2 基本标定程序·····························································.27 2.1.3 内、外参数································································.28 2.2 非线性摄像机模型································································.30 2.2.1 畸变类型···································································.31 2.2.2 标定步骤···································································.33 2.2.3 标定方法分类·····························································.34 2.3 传统标定方法······································································.35 2.3.1 基本步骤和参数··························································.36 2.3.2 两级标定法································································.36 2.3.3 精度提升···································································.40 2.4 自标定方法·········································································.41 2.5 各节要点和进一步参考··························································.44 第3 章 3D 图像采集··········································································45 3.1 高维图像············································································.45 3.2 深度图···············································································.46 3.2.1 深度图和灰度图像·······················································.47 3.2.2 本征图像和非本征图像·················································.47 3.2.3 深度成像方式·····························································.49 3.3 直接深度成像······································································.50 3.3.1 飞行时间法································································.50 3.3.2 结构光法···································································.53 3.3.3 莫尔等高条纹法··························································.55 3.3.4 同时采集深度和亮度图像··············································.58 3.4 立体视觉成像······································································.59 3.4.1 双目横向模式·····························································.59 3.4.2 双目会聚横向模式·······················································.63 3.4.3 双目轴向模式·····························································.65 3.5 各节要点和进一步参考··························································.67 第4 章视频图像和运动信息·······························································69 4.1 视频基础············································································.70 4.1.1 视频表达和模型··························································.70 4.1.2 视频显示和格式··························································.72 4.1.3 彩色电视制式·····························································.74 4.2 运动分类和表达···································································.75 4.2.1 运动分类···································································.75 4.2.2 运动矢量场表达··························································.76 4.2.3 运动直方图表达··························································.77 4.2.4 运动轨迹描述·····························································.79 4.3 运动信息检测······································································.80 4.3.1 基于摄像机模型的运动检测···········································.80 4.3.2 频域运动检测·····························································.84 4.3.3 运动方向检测·····························································.86 4.4 基于运动的滤波···································································.87 4.4.1 基于运动检测的滤波····················································.87 4.4.2 基于运动补偿的滤波····················································.89 4.5 各节要点和进一步参考··························································.93 第5 章运动目标检测和跟踪·······························································95 5.1 差分图像············································································.95 5.1.1 差图像的计算·····························································.96 5.1.2 累积差图像的计算·······················································.97 5.2 背景建模············································································.99 5.2.1 基本原理···································································.99 5.2.2 典型实用方法···························································.100 5.2.3 效果示例·································································.101 5.3 光流场与运动····································································.104 5.3.1 光流方程·································································.104 5.3.2 最小二乘法光流估计··················································.105 5.3.3 运动分析中的光流·····················································.106 5.3.4 稠密光流算法···························································.108 5.4 运动目标跟踪······································································111 5.4.1 卡尔曼滤波器···························································.111 5.4.2 粒子滤波器······························································.112 5.4.3 均移和核跟踪···························································.116 5.5 各节要点和进一步参考························································.119 第6 章双目立体视觉·····································································.121 6.1 立体视觉流程和模块···························································.121 6.2 基于区域的双目立体匹配·····················································.124 6.2.1 模板匹配·································································.125 6.2.2 立体匹配·································································.128 6.3 基于特征的双目立体匹配·····················································.134 6.3.1 基本步骤和方法························································.134 6.3.2 尺度不变特征变换·····················································.138 6.3.3 动态规划匹配···························································.140 6.4 视差图误差检测与校正························································.141 6.4.1 误差检测·································································.142 6.4.2 误差校正·································································.143 6.5 各节要点和进一步参考························································.145 第7 章单目多图像恢复··································································.147 7.1 光度立体学·······································································.148 7.1.1 光源、物体、镜头·····················································.148 7.1.2 物体亮度和图像亮度··················································.149 7.1.3 表面反射特性和亮度··················································.153 7.2 由光照恢复形状·································································.155 7.2.1 物体表面朝向的表达··················································.155 7.2.2 反射图和图像亮度约束方程·········································.157 7.2.3 光度立体学求解························································.160 7.3 光流方程··········································································.163 7.3.1 光流和运动场···························································.164 7.3.2 光流方程求解···························································.167 7.4 由运动恢复形状·································································.173 7.5 各节要点和进一步参考························································.176 第 8 章单目单图像恢复··································································.177 8.1 由影调恢复形状·································································.178 8.1.1 影调与朝向······························································.178 8.1.2 梯度空间法······························································.179 8.2 亮度约束方程求解······························································.182 8.2.1 线性情况·································································.183 8.2.2 旋转对称情况···························································.184 8.2.3 平滑约束的一般情况··················································.186 8.3 由纹理恢复形状·································································.188 8.3.1 单目成像和畸变························································.188 8.3.2 利用纹理变化恢复朝向···············································.190 8.4 纹理消失点检测·································································.197 8.4.1 检测线段纹理消失点··················································.197 8.4.2 确定图像外消失点·····················································.199 8.5 各节要点和进一步参考························································.201 第9 章 3D 目标表达·······································································.203 9.1 曲面的局部特征·································································.204 9.1.1 表面法截线······························································.204 9.1.2 表面主法曲率···························································.205 9.1.3 平均曲率和高斯曲率··················································.205 9.2 3D 表面表达······································································.208 9.2.1 参数表达·································································.208 9.2.2 表面朝向表达···························································.210 9.3 等值面的构造和表达···························································.213 9.3.1 行进立方体算法························································.213 9.3.2 覆盖算法·································································.216 9.4 从并行轮廓插值3D 表面······················································.218 9.4.1 轮廓内插和拼接························································.218 9.4.2 可能遇到的问题························································.220 9.4.3 德劳奈三角剖分和邻域沃罗诺伊图································.221 9.5 3D 实体表达······································································.224 9.5.1 基本表达方案···························································.224 9.5.2 广义圆柱体表达························································.226 9.6 各节要点和进一步参考························································.228 0 章广义匹配 ·········································································.230 10.1 匹配概述·········································································.231 10.1.1 匹配策略和类别·······················································.231 10.1.2 匹配和配准·····························································.233 10.1.3 匹配评价································································.234 10.2 目标匹配·········································································.235 10.2.1 匹配的度量·····························································.235 10.2.2 对应点匹配·····························································.238 10.2.3 字符串匹配·····························································.239 10.2.4 惯量等效椭圆匹配····················································.240 10.2.5 形状矩阵匹配··························································.241 10.3 动态模式匹配···································································.242 10.3.1 匹配流程································································.243 10.3.2 绝对模式和相对模式·················································.243 10.4 图论和图同构匹配·····························································.245 10.4.1 图论概述································································.245 10.4.2 图同构和匹配··························································.249 10.5 线条图标记和匹配·····························································.251 10.5.1 轮廓标记································································.251 10.5.2 结构推理································································.253 10.5.3 回朔标记································································.254 10.6 各节要点和进一步参考·······················································.255 1 章知识和场景解释·································································.257 11.1 场景知识·········································································.258 11.1.1 模型······································································.258 11.1.2 属性超图································································.260 11.1.3 基于知识的建模·······················································.261 11.2 逻辑系统·········································································.263 11.2.1 谓词演算规则··························································.263 11.2.2 利用定理证明进行推理··············································.267 11.3 模糊推理·········································································.270 11.3.1 模糊集和模糊运算····················································.271 11.3.2 模糊推理方法··························································.272 11.4 场景分类·········································································.275 11.4.1 词袋/特征包模型······················································.275 11.4.2 pLSA 模型······························································.278 11.5 各节要点和进一步参考·······················································.283 2 章时空行为理解···································································.285 12.1 时空技术·········································································.285 12.1.1 新的研究领域··························································.286 12.1.2 多个层次································································.286 12.2 时空兴趣点检测································································.288 12.2.1 空间兴趣点的检测····················································.288 12.2.2 时空兴趣点的检测····················································.289 12.3 时空动态轨迹学习和分析····················································.290 12.3.1 自动场景建模··························································.291 12.3.2 路径学习································································.293 12.3.3 自动活动分析··························································.296 12.4 时空动作分类和识别··························································.298 12.4.1 动作分类································································.298 12.4.2 动作识别································································.300 12.5 各节要点和进一步参考·······················································.306 附录A 视知觉···············································································.308 A.1 形状知觉··········································································.308 A.2 空间知觉··········································································.310 A.2.1 非视觉性深度线索·····················································.310 A.2.2 双目深度线索···························································.311 A.2.3 单目深度线索···························································.313 A.3 运动知觉··········································································.315 A.3.1 运动感知的条件························································.315 A.3.2 运动物体的检测························································.316 A.3.3 深度运动的检测························································.316 A.3.4 真实运动和表观运动··················································.317 A.3.5 表观运动的对应匹配··················································.317 A.3.6 孔径问题·································································.319 A.3.7 动态深度线索···························································.320 A.4 各节要点和进一步参考························································.321 自我检测题····················································································.322 自我检测题答案··············································································.358 参考文献 ·······················································································.367 术语索引 ·······················································································.375