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