計算機視覺技術

第 1 章 計算機視覺概述 ··············································································.1
1.1 計算機視覺簡介 ·············································································.1
1.1.1 計算機視覺 ··········································································.1
1.1.2 計算機視覺系統的組成 ···························································.1
1.1.3 計算機視覺的基本原理 ···························································.2
1.1.4 計算機視覺的應用 ·································································.2
1.2 計算機視覺的演進 ··········································································.6
1.2.1 計算機視覺的發展簡史 ···························································.6
1.2.2 計算機視覺的主要研究領域 ·····················································.8
1.2.3 計算機視覺主要的學術刊物和學術會議 ······································.9
本章小結 ·····························································································.9
本章習題 ·····························································································.9
第 2 章 相關軟硬件簡介 ·············································································.11
2.1 成像裝置介紹 ···············································································.11
2.1.1 相機選型 ············································································.11
2.1.2 鏡頭選型 ············································································.12
2.1.3 光源介紹及選擇 ···································································.13
2.2 OpenCV 入門 ················································································.16
2.2.1 OpenCV 介紹 ·······································································.16
2.2.2 OpenCV 的安裝 ····································································.17
2.2.3 OpenCV 的基本數據結構························································.24
2.2.4 OpenCV 的基本功能 ······························································.27
2.2.5 OpenCV 的簡單使用 ······························································.31
2.3 常用計算機視覺軟件介紹 ································································.34
本章小結 ····························································································.38
本章習題 ····························································································.38
第 3 章 圖像的基本計算和變換 ···································································.40
3.1 卷積 ···························································································.40
3.1.1 卷積的介紹 ·········································································.40
3.1.2 卷積的應用 ·········································································.40
3.1.3 OpenCV 中的線性濾波器························································.41
3.1.4 邊界外推和邊界處理 ·····························································.43
3.2 圖像直方圖 ··················································································.44
3.2.1 直方圖的意義和計算方法 ·······················································.44
3.2.2 直方圖均衡化 ······································································.47
3.2.3 直方圖的比較 ······································································.49
3.2.4 一些復雜的直方圖方法 ··························································.52
3.3 霍夫變換 ·····················································································.56
3.3.1 霍夫直線變換 ······································································.56
3.3.2 霍夫圓變換 ·········································································.61
3.3.3 OpenCV 中的 HoughCircles()函數 ·············································.62
3.4 重映射和仿射變換 ·········································································.63
3.4.1 重映射 ···············································································.63
3.4.2 仿射變換 ············································································.70
3.4.3 均勻調整 ············································································.76
3.4.4 圖像金字塔 ·········································································.77
3.4.5 透視變換 ············································································.81
3.5 通用變換 ·····················································································.83
3.5.1 極坐標變換 ·········································································.84
3.5.2 對數極坐標變換 ···································································.85
3.6 圖像修復與去噪技術 ······································································.87
3.6.1 圖像修復 ············································································.87
3.6.2 圖像去噪 ············································································.88
本章小結 ····························································································.92
本章習題 ····························································································.92
第 4 章 圖像平滑與邊緣提取 ······································································.93
4.1 平滑處理 ·····················································································.93
4.1.1 平滑處理的介紹 ···································································.93
4.1.2 均值濾波 ············································································.93
4.1.3 中值濾波 ············································································.95
4.1.4 高斯濾波 ············································································.97
4.1.5 雙邊濾波 ··········································································.100
4.1.6 平滑處理參考程序 ······························································.101
4.2 梯度濾波 ···················································································.102
4.2.1 Sobel 算子法 ·····································································.102
4.2.2 拉普拉斯（Laplacian）算子法 ···············································.108
4.2.3 Canny 算子法 ····································································.112
4.2.4 Scharr 算子法 ····································································.115
本章小結 ··························································································.117
本章習題 ··························································································.118
第 5 章 基於形態學的圖像分析 ··································································.119
5.1 圖像閾值化 ················································································.119
5.1.1 固定閾值 ··········································································.119
5.1.2 自適應閾值 ·······································································.125
5.1.3 使用 inRange 的閾值操作 ·····················································.127
5.2 圖像形態學運算 ··········································································.128
5.2.1 二值圖像的基本形態學運算 ··················································.128
5.2.2 開運算和閉運算 ·································································.131
5.2.3 頂帽運算和黑帽運算 ···························································.135
5.2.4 形態學梯度 ·······································································.137
5.2.5 核運算 ·············································································.138
5.2.6 圖像形態學參考代碼 ···························································.139
5.3 圖像輪廓 ···················································································.140
5.3.1 提取輪廓 ··········································································.140
5.3.2 用多邊形擬合輪廓 ······························································.143
5.3.3 計算圖像的矩 ····································································.147
5.3.4 匹配輪廓與圖像 ·································································.150
本章小結 ··························································································.151
本章習題 ··························································································.152
第 6 章 圖像分析 ····················································································.153
6.1 離散傅裏葉變換 ··········································································.153
6.1.1 離散傅裏葉變換 dft()函數 ·····················································.154
6.1.2 離散傅裏葉逆變換 idft()函數 ·················································.155
6.2 積分圖 ······················································································.155
6.2.1 標準求和積分 integral()函數 ··················································.156
6.2.2 平方求和積分 integral()函數 ··················································.157
6.2.3 瓦塊求和積分 integral()函數 ··················································.157
6.3 距離變換 ···················································································.157
6.3.1 無標記距離變換 distanceTransform()函數 ··································.157
6.3.2 有標記距離變換 distanceTransform()函數 ··································.158
6.4 圖像分割 ···················································································.159
6.4.1 漫水填充 ··········································································.159
6.4.2 分水嶺算法 ·······································································.161
6.4.3 GrabCut 算法 ·····································································.161
本章小結 ··························································································.163
本章習題 ··························································································.163
第 7 章 背景提取 ····················································································.164
7.1 背景提取概述 ·············································································.164
7.2 背景提取的缺點 ··········································································.164
7.3 場景建模 ···················································································.165
7.3.1 像素 ················································································.165
7.3.2 幀間差分 ··········································································.166
7.4 平均背景法 ················································································.168
7.4.1 累積圖像 accumulate()函數 ····················································.169
7.4.2 幀圖像差 absdiff()函數 ·························································.170
7.4.3 最大值 max()函數 ·······························································.171
本章小結 ··························································································.172
本章習題 ··························································································.173
第 8 章 圖像特征檢測與匹配 ·····································································.174
8.1 特征檢測和描述 ··········································································.174
8.2 模板匹配 ···················································································.175
8.3 角點檢測 ···················································································.178
8.3.1 Harris 角點檢測 ··································································.178
8.3.2 Shi-Tomasi 角點檢測 ···························································.181
8.4 特征點檢測與匹配 ·······································································.182
8.4.1 特征點檢測 ·······································································.183
8.4.2 特征匹配 ··········································································.190
本章小結 ··························································································.194
本章習題 ··························································································.195
第 9 章 運動分析 ····················································································.196
9.1 目標跟蹤 ···················································································.196
9.2 背景減除 ···················································································.197
9.3 光流 ·························································································.200
9.4 均值移位和連續自適應均值移位 ·····················································.202
9.4.1 均值移位 ··········································································.202
9.4.2 連續自適應均值移位 ···························································.204
本章小結 ··························································································.205
本章習題 ··························································································.205
第 10 章 視覺測量 ··················································································.206
10.1 相機的標定和校準 ······································································.206
10.2 尺寸測量 ··················································································.211
10.3 角度測量 ··················································································.212
10.4 視覺測距 ··················································································.214
10.5 計算極線 ··················································································.216
10.6 立體校正和立體匹配 ···································································.217
10.6.1 立體校正 ·······································································.217
10.6.2 立體匹配 ·······································································.218
本章小結 ··························································································.221
本章習題 ··························································································.221
第 11 章 計算機視覺技術的應用案例 ··························································.222
11.1 物料輪廓、方向和中心識別 ··························································.222
11.2 條形碼識別和二維碼識別 ·····························································.224
11.2.1 條形碼識別 ····································································.224
11.2.2 二維碼識別 ····································································.226
11.3 車牌號碼識別 ············································································.228
11.4 字符識別 ··················································································.232
11.5 表面缺陷檢測 ············································································.235
11.6 數字識別 ··················································································.236
11.7 圖像分類 ··················································································.243
11.8 目標檢測 ··················································································.245
本章小結 ··························································································.251
本章習題 ··························································································.251