CONTENTS
I IMAGE FORMATION 1
1 RADIOMETRY — MEASURING LIGHT 3
1.1 Light in Space 31.1.1 Foreshortening 31.1.2 Solid Angle 41.1.3 Radiance 61.2 Light at Surfaces 81.2.1 Simplifying Assumptions 91.2.2 The Bidirectional Reflectance Distribution Function 91.3 Important Special Cases 111.3.1 Radiosity 111.3.2 Directional Hemispheric Reflectance 121.3.3 Lambertian Surfaces and Albedo 121.3.4 Specular Surfaces 131.3.5 The Lambertian + Specular Model 141.4 Quick Reference: Radiometric Terminology for Light 161.5 Quick Reference: Radiometric Properties of Surfaces 171.6 Quick Reference: Important Types of Surface 181.7 Notes 191.8 Assignments 19
2 SOURCES, SHADOWS AND SHADING 21
2.1 Radiometric Properties of Light Sources 212.2 Qualitative Radiometry 222.3 Sources and their Effects 232.3.1 Point Sources 24
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2.3.2 Line Sources 262.3.3 Area Sources 272.4 Local Shading Models 282.4.1 Local Shading Models for Point Sources 282.4.2 Area Sources and their Shadows 312.4.3 Ambient Illumination 312.5 Application: Photometric Stereo 332.5.1 Normal and Albedo from Many Views 362.5.2 Shape from Normals 372.6 Interreflections: Global Shading Models 402.6.1 An Interreflection Model 422.6.2 Solving for Radiosity 432.6.3 The qualitative effects of interreflections 452.7 Notes 472.8 Assignments 502.8.1 Exercises 502.8.2 Programming Assignments 51
3 COLOUR 53
3.1 The Physics of Colour 533.1.1 Radiometry for Coloured Lights: Spectral Quantities 533.1.2 The Colour of Surfaces 543.1.3 The Colour of Sources 553.2 Human Colour Perception 583.2.1 Colour Matching 583.2.2 Colour Receptors 613.3 Representing Colour 633.3.1 Linear Colour Spaces 633.3.2 Non-linear Colour Spaces 683.3.3 Spatial and Temporal Effects 733.4 Application: Finding Specularities 733.5 Surface Colour from Image Colour 773.5.1 Surface Colour Perception in People 773.5.2 Inferring Lightness 803.5.3 A Model for Image Colour 833.5.4 Surface Colour from Finite Dimensional Linear Models 863.6 Notes 89
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3.6.1 Trichromacy and Colour Spaces 893.6.2 Lightness and Colour Constancy 903.6.3 Colour in Recognition 913.7 Assignments 91
II IMAGE MODELS 94
4 GEOMETRIC IMAGE FEATURES 96
4.1 Elements of Differential Geometry 1004.1.1 Curves 1004.1.2 Surfaces 105Application: The shape of specularities 1094.2 Contour Geometry 1124.2.1 The Occluding Contour and the Image Contour 1134.2.2 The Cusps and Inflections of the Image Contour 1144.2.3 Koenderink’s Theorem 1154.3 Notes 1174.4 Assignments 118
5 ANALYTICAL IMAGE FEATURES 120
5.1 Elements of Analytical Euclidean Geometry 1205.1.1 Coordinate Systems and Homogeneous Coordinates 1215.1.2 Coordinate System Changes and Rigid Transformations 1245.2 Geometric Camera Parameters 1295.2.1 Intrinsic Parameters 1295.2.2 Extrinsic Parameters 1325.2.3 A Characterization of Perspective Projection Matrices 1325.3 Calibration Methods 1335.3.1 A Linear Approach to Camera Calibration 134Technique: Linear Least Squares Methods 1355.3.2 Taking Radial Distortion into Account 1395.3.3 Using Straight Lines for Calibration 1405.3.4 Analytical Photogrammetry 143Technique: Non-Linear Least Squares Methods 1455.4 Notes 1475.5 Assignments 147
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18.1.3 Overview for Computer Vision - A Modern Approach by Forsythe Ponce
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