本书主要内容围绕3D 计算机视觉展开，介绍了相关的基础概念、基本原理、典型算法、实用技术和应用成果。本书可在学过其姊妹篇《2D 计算机视觉：原理、算法及应用》后学习。 本书将从客观场景出发到最后对场景进行理解的全过程分为5 个部分进行介绍。第1 部分是图像采集，介绍了摄像机标定和3D 图像采集技术；第2 部分是视频运动，介绍了视频图像和运动信息，以及对运动目标进行检测和跟踪的技术；第3 部分是物体重建，介绍了双目立体视觉和单目图像恢复技术；第4 部分是物体分析，介绍了3D 目标表达和广义匹配；第5 部分是高层理解，介绍了知识和场景解释及时空行为理解。本书除提供大量示例外，还针对每章的内容提供了自我检测题（含提示并附有答案），并且给出了相关的参考文献和术语索引（包括英文）。

本书是一本介绍3D 计算机视觉基本原理、典型算法和实用技术的专业图书，建议读者在学习《2D 计算机视觉：原理、算法及应用》后使用本书。 本书在选材上主要覆盖了计算机视觉的进阶级内容，自成体系，主要针对信息类相关专业，同时兼顾了具有不同专业背景的学习者及自学读者的需求。读者可据此开展科研工作并解决实际应用中一些具有一定难度的问题。 本书在编写上比较注重实用性，没有过多强调理论体系，尽量减少公式推导，着重介绍常用的方法。书中有较多的示例，能通过直观的解释帮助读者理解抽象的概念。书末附有术语索引（文中标为黑体），给出了对应的英文，方便读者查阅及搜索相关资料。 本书提供了大量的自我检测题（包括提示和答案）。从目的来说，一方面，这便于自学者判断自己是否掌握了重点内容；另一方面，这便于教师开展网络教学，在授课时加强师生互动。题目类型为选择题，可用计算机方便地判断正误。从内容来看，很多题把基本概念换一种说法进行表达，补充了正文，使学习者能加深理解；有些题列出了一些相似但不相同（甚至含义相反）的描述，通过正反辩证思考，使学习者能深入领会本质。所有自我检测题都附有提示，读者可获得更多的信息以进一步理解题目的含义。同时，在有提示的基础上，如果读者能在看到提示后完成自我检测题，则表明基本掌握了学习内容；如果不看提示就能完成自我检测题，则表明内容掌握得比较好。 本书从结构上看，包括12 章正文、1 个附录及自我检测题、自我检测题答案、参考文献和术语索引。在这17 个一级标题下，共有66 个二级标题（节），再之下有135 个三级标题（小节）。全书共有文字（包括图片、绘图、表格、公式等）50 万字，共有编了号的图228 个、表格22 个、公式565 个。为便于教学和理解，本书给出示例68 个、自我检测题157 道（全部附有提示和答案）。另外，书末列出了直接相关的100 多篇参考文献和用于索引的500 多个术语（中英文对照）。 本书的先修课程知识涉及三个方面。一是数学，包括线性代数和矩阵理论，以及有关统计学、概率论和随机建模的基础知识；二是计算机科学，包括对计算机软件技术的掌握、对计算机结构体系的理解，以及对计算机编程方法的应用；三是电子学，包括电子设备的特性原理及电路设计等内容。 感谢电子工业出版社编辑的精心组稿、认真审阅和细心修改。 最后，作者感谢妻子何芸、女儿章荷铭在各方面的理解和支持。 章毓晋 2020 年暑假于书房 通信：清华大学电子工程系（100084） 邮箱：zhang-yj@tsinghua.edu.cn

第1 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 第10 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 第11 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 第12 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

http://www.hxedu.com.cn/hxedu/fg/book/bookinfo.html?code=TP419500