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Handbook ofComputer Visionand Applications     Volume 1Sensors and Imaging
Handbook ofComputer Visionand Applications     Volume 1Sensors and Imaging                 Editors               Bernd Jäh...
This book is printed on acid-free paper.Copyright © 1999 by Academic Press.All rights reserved.No part of this publication...
ContentsPreface                                                                                                          x...
vi                                                                                                                        ...
Contents                                                                                                                  ...
viii                                                                                                                      ...
Contents                                                                                                               ix ...
x                                                                                                              Contents23 ...
PrefaceWhat this handbook is aboutThis handbook offers a fresh approach to computer vision. The wholevision process from im...
xii                                                              Prefacemal treatment of the corresponding subject includi...
Contributors                      Werner F. Albert studied medicine at the Universities of                      Saarland a...
xiv                                                              Contributors                    Michael J. Buckingham is ...
Contributors                                                                    xv                      Rainer H.A. Fink i...
xvi                                                              Contributors                      Hermann Gröning graduat...
Contributors                                                                xvii                     Horst Haußecker studi...
xviii                                                           ContributorsProf. Dr. Bernd Jähne, Forschungsgruppe Bildve...
Contributors                                                             xix                     Peter Rieve received the ...
xx                                                              Contributors                 Bernd Schneider received the ...
Contributors                                                                 xxi                      Rudolf Schwarte stud...
xxii                                                              ContributorsProf. Dr. Peter SeitzCentre Suisse d’Electro...
Contributors                                                                xxiii                     Dietmar Uttenweiler ...
xxiv   Contributors
1 IntroductionBernd JähneInterdisziplinäres Zentrum für Wissenschaftliches Rechnen (IWR)Universität Heidelberg, Germany   ...
2                                                                           1 IntroductionProperty                 Radianc...
1.2 Imaging systems                                                     3    The first part of this volume covers the basic...
4   1 Introduction
Part IIllumination and Image      Formation
2 RadiationHorst HaußeckerInterdisziplinäres Zentrum für Wissenschaftliches Rechnen (IWR)Universität Heidelberg, Germany  ...
8                                                              2 Radiation2.1 IntroductionVisual perception of scenes depe...
2.2 Fundamentals of electromagnetic radiation                           92.2 Fundamentals of electromagnetic radiation2.2....
10                                                                                                                        ...
2.2 Fundamentals of electromagnetic radiation                                  11gether with the standardized terminology1...
12                                                                2 Radiationa                                       b    ...
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Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
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Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
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Computer vision   handbook of computer vision and applications volume 1 - sensors and imaging
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Computer vision handbook of computer vision and applications volume 1 - sensors and imaging

  1. 1. 1 1 2 2 1 1 2 4 2 4 2 2 1 1 2 2 1 1HANDBOOK OFCOMPUTER VISION ANDAPPLICATIONSVolume 1Sensors and ImagingBernd JähneHorst HaußeckerPeter GeißlerACADEMIC PRESS
  2. 2. Handbook ofComputer Visionand Applications Volume 1Sensors and Imaging
  3. 3. Handbook ofComputer Visionand Applications Volume 1Sensors and Imaging Editors Bernd JähneInterdisciplinary Center for Scientific Computing University of Heidelberg, Heidelberg, Germany and Scripps Institution of Oceanography University of California, San Diego Horst Haußecker Peter GeißlerInterdisciplinary Center for Scientific Computing University of Heidelberg, Heidelberg, Germany ACADEMIC PRESS San Diego London Boston New York Sydney Tokyo Toronto
  4. 4. This book is printed on acid-free paper.Copyright © 1999 by Academic Press.All rights reserved.No part of this publication may be reproduced or transmitted in any form orby any means, electronic or mechanical, including photocopy, recording, orany information storage and retrieval system, without permission in writingfrom the publisher.The appearance of code at the bottom of the first page of a chapter in this bookindicates the Publisher’s consent that copies of the chapter may be made forpersonal or internal use of specific clients. This consent is given on the con-dition, however, that the copier pay the stated per-copy fee through the Copy-right Clearance Center, Inc. (222 Rosewood Drive, Danvers, Massachusetts01923), for copying beyond that permitted by Sections 107 or 108 of the U.S.Copyright Law. This consent does not extend to other kinds of copying, suchas copying for general distribution, for advertising or promotional purposes,for creating new collective works, or for resale. Copy fees for pre-1999 chap-ters are as shown on the title pages; if no fee code appears on the title page,the copy fee is the same as for current chapters. ISBN 0-12-379770-5/$30.00ACADEMIC PRESSA Division of Harcourt Brace & Company525 B Street, Suite 1900, San Diego, CA 92101-4495http://www.apnet.comACADEMIC PRESS24-28 Oval Road, London NW1 7DX, UKhttp://www.hbuk.co.uk/ap/Library of Congress Cataloging-In-Publication DataHandbook of computer vision and applications / edited by Bernd Jähne,Horst Haussecker, Peter Geissler. p. cm. Includes bibliographical references and indexes. Contents: v. 1. Sensors and imaging — v. 2. Signal processing and pattern recognition — v. 3. Systems and applications. ISBN 0–12–379770–5 (set). — ISBN 0–12–379771-3 (v. 1) ISBN 0–12–379772–1 (v. 2). — ISBN 0–12–379773-X (v. 3) 1. Computer vision — Handbooks, manuals. etc. I. Jähne, Bernd 1953– . II. Haussecker, Horst, 1968– . III. Geissler, Peter, 1966– .TA1634.H36 1999006.3 7 — dc21 98–42541 CIPPrinted in the United States of America99 00 01 02 03 DS 9 8 7 6 5 4 3 2 1
  5. 5. ContentsPreface xiContributors xiii1 Introduction 1 B. Jähne 1.1 Components of a vision system . . . . . . . . . . . . . . . . . . . 1 1.2 Imaging systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 I Illumination and Image Formation2 Radiation 7 H. Haußecker 2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.2 Fundamentals of electromagnetic radiation . . . . . . . . . . . . 9 2.3 Radiometric quantities . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.4 Fundamental concepts of photometry . . . . . . . . . . . . . . . 24 2.5 Thermal emission of radiation . . . . . . . . . . . . . . . . . . . . 28 2.6 Acoustic waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 2.7 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353 Interaction of Radiation with Matter 37 H. Haußecker 3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 3.2 Basic definitions and terminology . . . . . . . . . . . . . . . . . . 39 3.3 Properties related to interfaces and surfaces . . . . . . . . . . . 43 3.4 Bulk-related properties of objects . . . . . . . . . . . . . . . . . . 52 3.5 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614 Imaging Optics 63 P. Geißler 4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 4.2 Basic concepts of geometric optics . . . . . . . . . . . . . . . . . 64 4.3 Lenses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 4.4 Optical properties of glasses and other materials . . . . . . . . 78 4.5 Aberrations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 4.6 Optical image formation . . . . . . . . . . . . . . . . . . . . . . . . 90 4.7 Wave and Fourier optics . . . . . . . . . . . . . . . . . . . . . . . . 96 4.8 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 v
  6. 6. vi Contents5 Radiometry of Imaging 103 H. Haußecker 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 5.2 Observing surfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 5.3 Propagating radiance . . . . . . . . . . . . . . . . . . . . . . . . . . 112 5.4 Radiance of imaging . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 5.5 Detecting radiance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 5.6 Concluding summary . . . . . . . . . . . . . . . . . . . . . . . . . . 134 5.7 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1356 Illumination Sources and Techniques 137 H. Haußecker 6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 6.2 Natural illumination . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 6.3 Artificial illumination sources . . . . . . . . . . . . . . . . . . . . . 141 6.4 Illumination setups . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 6.5 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 II Imaging Sensors7 Solid-State Image Sensing 165 P. Seitz 7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166