本书从计算机视觉、光学成像基础、人眼视觉的基本概念出发，全面系统地阐述视觉测量的硬件系统、基础理论、关键技术、实用算法以及应用案例。全书共10 章，第1～3 章介绍视觉测量相关概念、光学基础与人眼视觉、视觉测量硬件系统，内容涉及光学、光电子学等学科知识，由此铺垫视觉测量所需基础理论；第4～5 章介绍数字图像基础、图像变换，由此了解数字图像的属性、特性、代数运算以及图像处理中的数学基础；第6～8 章介绍图像增强与复原、图像分割、图像特征分析，主要涉及视觉测量中基本的和常用的数字图像处理技术；第9～10 章介绍摄像机标定、双目立体视觉测量，为二维和三维视觉测量奠定相关理论与技术基础。本书既涵盖视觉测量的入门级知识，又包含从事视觉测量工程实践的实用技术，读者即使不具备相关知识背景也可以自成体系地进行学习。

白福忠博士，教授，内蒙古工大学机械工程学院专职教师，内蒙古自治区级一流本科专业建设点负责人，自治区品牌专业负责人，仪器仪表工程硕士点负责人，智能机器人与光机电测控技术团队带头人；主要从事光学与视觉测量领域的研究工作，主讲本科生课程《工程光学》、《视觉测量》，主讲硕士生课程《数字图像处理及分析》。中国光学学会光学测试专业委员会委员，教育部高等学校仪器类专业教学指导委员会协作委员，内蒙古计量校准测量协会专家，多次担任国际著名光学期刊applied optics的审稿工作。

目 录
第1 章 绪论 ·································································································.1
1.1 计算机视觉 ························································································.2
1.1.1 计算机视觉的概念 ······································································.2
1.1.2 计算机视觉的发展 ······································································.2
1.1.3 计算机视觉的应用 ······································································.3
1.1.4 计算机视觉研究面临的问题 ··························································.4
1.2 相关学科介绍 ·····················································································.5
1.2.1 图像处理 ··················································································.5
1.2.2 计算机图形学 ············································································.6
1.2.3 模式识别 ··················································································.6
1.2.4 人工智能 ··················································································.6
1.2.5 人工神经网络 ············································································.7
1.3 视觉测量技术 ·····················································································.7
1.3.1 视觉测量技术分类 ······································································.7
1.3.2 视觉测量系统的组成 ···································································.7
1.3.3 视觉测量的流程 ·········································································.8
1.4 视觉测量技术特点及应用 ······································································.9
思考与练习 ····························································································.11
第2 章 光学基础与人眼视觉 ··········································································.12
2.1 电磁波谱 ·························································································.12
2.2 辐射度量与光度量 ·············································································.14
2.2.1 辐射度量 ················································································.14
2.2.2 光度量 ···················································································.16
2.2.3 辐射度量与光度量之间的关系 ·····················································.16
2.3 色度学基础与颜色模型 ·······································································.17
2.3.1 色度学的基本概念 ····································································.17
2.3.2 三基色原理 ·············································································.18
2.3.3 颜色模型 ················································································.19
2.4 光学成像基本原理 ·············································································.24
2.5 人眼的生理构造及功能 ·······································································.25
2.6 人眼的视觉过程 ················································································.27
2.6.1 光学过程 ················································································.27
2.6.2 化学过程 ················································································.28
2.6.3 神经处理过程 ··········································································.30
2.7 人眼视觉特性 ···················································································.31
2.7.1 视觉的空间特性 ·······································································.31
2.7.2 视觉的时间特性 ·······································································.32
2.7.3 视觉的心理物理学特性 ······························································.35
思考与练习 ····························································································.39
第3 章 视觉测量硬件系统 ·············································································.40
3.1 光源照明系统 ···················································································.41
3.1.1 光源照明系统的设计要求 ···························································.41
3.1.2 光源的基本性能参数 ·································································.41
3.1.3 照明光源类型及照明方式 ···························································.43
3.2 镜头 ·······························································································.45
3.2.1 镜头的分类 ·············································································.45
3.2.2 视场 ······················································································.46
3.2.3 光学倍率和数值孔径 ·································································.47
3.2.4 景深 ······················································································.48
3.2.5 曝光量和光圈数 ·······································································.48
3.2.6 镜头的光学分辨率 ····································································.49
3.2.7 镜头的选择 ·············································································.50
3.3 光电成像器件 ···················································································.51
3.3.1 光电成像器件的发展 ·································································.51
3.3.2 CCD 图像传感器 ······································································.52
3.3.3 CMOS 图像传感器 ···································································.55
3.4 数字化设备 ······················································································.56
3.5 处理器 ····························································································.57
3.6 成像系统常用参数术语 ·······································································.58
3.7 成像系统分辨率的表示和影响因素 ························································.61
思考与练习 ····························································································.64
第4 章 数字图像基础 ···················································································.65
4.1 图像的产生 ······················································································.66
4.2 数字图像 ·························································································.66
4.2.1 图像的数字化 ··········································································.66
4.2.2 数字图像的表示 ·······································································.69
4.2.3 计算机中的图像文件格式 ···························································.70
4.3 图像分类 ·························································································.72
4.3.1 二值图像 ················································································.73
4.3.2 灰度图像 ················································································.73
4.3.3 RGB 图像 ···············································································.73
4.3.4 索引图像 ················································································.74
4.3.5 多帧图像 ················································································.75
4.4 图像文件的操作 ················································································.75
4.4.1 图像文件的读取 ·······································································.75
4.4.2 图像文件的保存 ·······································································.76
4.4.3 图像文件的显示 ·······································································.78
4.5 图像的统计特性 ················································································.79
4.5.1 灰度直方图 ·············································································.79
4.5.2 联合直方图 ·············································································.80
4.5.3 熵和联合熵 ·············································································.81
4.5.4 其他统计特征 ··········································································.82
4.6 图像的代数运算 ················································································.83
4.6.1 图像相加 ················································································.83
4.6.2 图像相减 ················································································.85
4.6.3 图像相乘 ················································································.86
4.6.4 图像相除 ················································································.86
思考与练习 ····························································································.86
第5 章 图像变换 ·························································································.88
5.1 图像投影和拉东变换 ··········································································.89
5.1.1 二值图像的投影 ·······································································.89
5.1.2 拉东变换 ················································································.90
5.2 傅里叶变换 ······················································································.91
5.2.1 傅里叶级数 ·············································································.91
5.2.2 傅里叶变换的定义 ····································································.93
5.2.3 二维离散傅里叶变换的性质 ························································.96
5.3 极坐标变换 ······················································································.99
5.3.1 极坐标变换原理及应用 ······························································.99
5.3.2 傅里叶-极坐标变换 ··································································.101
5.4 霍夫变换 ························································································.102
5.4.1 霍夫变换用于直线检测 ·····························································.103
5.4.2 霍夫变换用于圆形轮廓检测 ·······················································.105
5.4.3 广义霍夫变换 ·········································································.106
5.5 霍特林变换 ·····················································································.107
第6 章 图像增强与复原 ···············································································.112
6.1 图像质量评价 ··················································································.112
6.2 灰度变换 ························································································.114
6.2.1 线性灰度变换 ·········································································.114
6.2.2 非线性灰度变换 ······································································.116
6.3 直方图均衡化 ··················································································.117
6.4 空域平滑 ························································································.120
6.4.1 均值滤波 ···············································································.120
6.4.2 中值滤波 ···············································································.122
6.4.3 边缘保持滤波算法 ···································································.124
6.5 空域锐化 ························································································.125
6.6 频域滤波 ························································································.126
6.6.1 频域滤波基础 ·········································································.126
6.6.2 低通滤波 ···············································································.128
6.6.3 高通滤波 ···············································································.130
6.6.4 带阻滤波 ···············································································.132
6.6.5 同态滤波 ···············································································.133
6.7 彩色增强 ························································································.135
6.7.1 假彩色增强 ············································································.136
6.7.2 伪彩色增强 ············································································.136
6.7.3 彩色图像增强 ·········································································.138
6.8 图像复原 ························································································.140
6.8.1 图像退化的原因 ······································································.140
6.8.2 图像退化模型 ·········································································.140
6.8.3 噪声模型 ···············································································.142
6.8.4 退化函数估计 ·········································································.143
6.8.5 逆滤波复原 ············································································.146
6.8.6 维纳滤波 ···············································································.146
6.8.7 几何失真图像校正 ···································································.148
思考与练习 ···························································································.151
第7 章 图像分割 ························································································.155
7.1 图像分割的概念 ···············································································.156
7.2 边缘检测 ························································································.156
7.2.1 一阶导数算子 ·········································································.157
7.2.2 二阶导数算子 ·········································································.161
7.2.3 基于边缘跟踪的边缘检测方法 ····················································.163
7.3 阈值分割 ························································································.165
7.3.1 双峰法 ··················································································.165
7.3.2 Otsu 算法 ··············································································.165
7.3.3 最大熵法 ···············································································.166
7.3.4 迭代阈值法 ············································································.166
7.4 区域分割 ························································································.167
7.4.1 区域生长法 ············································································.167
7.4.2 分水岭分割法 ·········································································.168
7.5 数学形态学处理 ···············································································.170
7.5.1 基本的数学形态学运算 ·····························································.170
7.5.2 二值图像的数学形态学处理 ·······················································.172
7.5.3 灰度图像的数学形态学处理 ·······················································.177
7.6 运动目标分割 ··················································································.181
7.6.1 背景差值法 ············································································.181
7.6.2 帧间差分法 ············································································.182
7.6.3 三帧差分法 ············································································.183
思考与练习 ···························································································.184
第8 章 图像特征分析 ··················································································.186
8.1 点特征的描述 ··················································································.187
8.1.1 Moravec 角点检测算法 ·····························································.187
8.1.2 SUSAN 角点检测算法 ······························································.188
8.1.3 Harris 角点检测算法 ································································.190
8.2 纹理特征的描述 ···············································································.191
8.2.1 灰度差分统计 ·········································································.192
8.2.2 自相关函数 ············································································.192
8.2.3 灰度共生矩阵 ·········································································.193
8.2.4 傅里叶变换法 ·········································································.195
8.2.5 Gabor 变换法 ··········································································.196
8.3 形状特征的描述 ···············································································.199
8.3.1 轮廓表示方法 ·········································································.200
8.3.2 轮廓特征的描述 ······································································.202
8.3.3 区域特征的描述 ······································································.204
思考与练习 ···························································································.207
第9 章 摄像机标定 ·····················································································.209
9.1 空间几何变换 ··················································································.210
9.1.1 简单变换 ···············································································.210
9.1.2 刚体变换 ···············································································.211
9.1.3 仿射变换 ···············································································.212
9.1.4 射影变换 ···············································································.213
9.1.5 非线性变换 ············································································.214
9.2 视觉测量常用坐标系 ·········································································.214
9.3 摄像机成像模型 ···············································································.215
9.3.1 中心透视投影模型 ···································································.216
9.3.2 摄像机内参模型 ······································································.216
9.3.3 镜头畸变模型 ·········································································.217
9.3.4 摄像机外参模型 ······································································.219
9.4 摄像机标定法概述 ············································································.220
9.4.1 传统标定法 ············································································.220
9.4.2 基于主动视觉的标定法和自标定法 ··············································.221
9.5 线性模型摄像机标定法 ······································································.221
9.6 Tsai 两步标定法 ···············································································.224
9.7 基于平面靶标的非线性模型标定法 ·······················································.226
9.8 摄像机标定与二维视觉测量实验 ··························································.230
9.8.1 摄像机标定步骤 ······································································.230
9.8.2 摄像机标定实验结果 ································································.231
9.8.3 二维视觉测量实验 ···································································.231
思考与练习 ···························································································.234
第10 章 双目立体视觉测量 ···········································································.235
10.1 双目立体视觉测量原理 ····································································.236
10.2 数学模型与三维重建 ·······································································.237
10.2.1 汇聚式光轴双目立体视觉测量的数学模型 ···································.237
10.2.2 最小二乘法三维重建 ······························································.238
10.3 极线几何与基本矩阵 ·······································································.239
10.3.1 极线几何关系 ·······································································.239
10.3.2 极线约束方程与基本矩阵 ························································.240
10.3.3 摄像机的相对运动——本质矩阵 ···············································.242
10.3.4 从图像对应点估计基本矩阵 ·····················································.242
10.4 双目立体视觉系统标定 ····································································.243
10.5 极线校正 ······················································································.244
10.6 图像配准与图像匹配 ·······································································.246
10.6.1 图像配准概述 ·······································································.247
10.6.2 基于模板（区域）的匹配算法 ··················································.249
10.6.3 基于频域的匹配算法 ······························································.251
10.6.4 基于特征的匹配算法 ······························································.252
10.7 双目立体视觉测量流程 ····································································.253
思考与练习 ···························································································.256
参考文献 ·····································································································.257