Index

2.5D sketch, 14, 376,377, 385 2D co-ordinate system, 375, 398, 408 2D projection, 196, 374-375, 382-

384,392,393,406,411,415, 508

2D shape, 43, 192, 196 3D co-ordinate system, 375, 407 3D information, 192, 397 3D interpretation, 375, 384, 397 3D representation, 15, 376-378, 382 3D shape, 43, 192, 196

A-algorithm, 136-143,146,148,149 ACRONYM, 329, 381, 415 active vision, 400 acuity, 37 adaptive neighbourhood, 96-102 ADEOS,458 algorithm (in Marr's theory), 375 aliasing, 24 anti-extensive transformation, 430 antialiasing, 27 arc (of a graph), 48 area, 45, 52, 202, 222-224, 228, 257,

380, 406, 423 aspect, 406 aspect graph, 382, 406 autocorrelation, 465 avoidance

obstacle, 373

B-reps,379 back projection, 408, 409 back-propagation, 276-280 background, 32 backtracking, 148, 289, 296,297, 329,

351, 408, 409 backward chaining, 415

543

balloon, 334 bay, 35 Bayes formula, 266, 267, 336, 338,

340, 341 bin-picking, 373, 392, 411 blackboard, 328 blocks world, 379, 383 Boltzmann constant, 305 border, 33, 38

detection, 307 extended, 131-134 inner, 33, 129, 130 inter-pixel, 131 outer, 34, 129-132

bottom-up approach, 375 boundary, see border boundary representations, see B-reps brightness, 2, 3, 5, 13, 15, 16, 22,

27,28,30,32,35,37,38,40, 43-45,47,48,53,56-58,60, 62,71,72,74,76,92,96-98, 100-102, 113, 115-118, 121, 122, 135, 161, 164, 165, 168, 169,174,228,229,338,374, 394,413,414,458-460,466, 470,481,485,487-489,498, 510, 511

correction, 57 interpolation, 64-67 transformation, 57-60

brightness interpolation bicubic,66 linear, 66 nearest neighbour, 65

calculus, 30, 76, 300, 422 camera, 13, 40, 43, 57, 102, 104,

544 Index

105,217,220,507,508,513 geometry, 374 model, 386

CANC2,416 Canny edge detector, 79, 88-91 centre of gravity, 228, 241, 242 chain, 46

Markov, 489 chain code, 46, 134, 200-203, 210,

223 characteristic view, 406 class, 262

identifier, 264 classification

contextual, 336-343, 350 recursive, 341

classifier, 262-272, 275, 288 ~, 265, 268, 276, 280 best approximation, 268 learning, 268, 270-272, 290 linear, 264-265, 275 maximum likelihood, 266 minimum distance, 264, 265, 272-

274 minimum error, 266-272 nonlinear, 266 setting, 266-269 syntactic, 288

clique, 297, 298 closing, 426, 431-432 cluster analysis, 273, 274, 279 co-occurrence matrix, 45 co-ordinate system

2D, see 2D co-ordinate system 3D, see 3D co-ordinate system object-based, 15, 375, 377 polar, 200 rectangular, 200 tangential, 200, 202

COBIUS,328 code

chain, see chain code dictionary, 465, 471

Freeman, 46 leaf, 53 run length, 47

coding Huffman, 471 low and high frequencies, 471 region border, 470

colorimetry, 15 colour, 38 colour image, 28 compatibility function, 344, 358 compression, 3, 5, 458-472

dictionary-based, 471 DPCM, 463, 466 hybrid, 459, 466, 470 JPEG,471 Lempel-Ziv, 471 predictive, 459, 463-465, 470 pyramid, 466-468 ratio, 460, 463, 465, 466 region growing, 471 smart, 466, 467 transform, 459, 461,468, 470 vector quantization, 465-466,

468,470 computer graphics, 15, 43, 61, 212,

493 conditional dilation, 439-442 confidence, 341-361 conic, 218-220 constraint

domain-specific, 374 epipolar, see epipolar constraint global,374 propagation, 343-348,351,353,

383 constructive solid geometry, 379 context, 112, 124, 125, 318, 322,

337-343,351, 353 contour

false, 28 partitioning, 209, 210 shape from, see shape from con-

Index

tour contrast, 37, 38, 58, 59, 95, 97, 119,

123, 175, 413, 484, 486, 511 enhancenrrent, 101-102

control strategy, 256, 317-329, 346 bottonrr-up, 144, 255, 319-320,

323, 326, 347 conrrbined, 322, 326 hierarchical, 319, 326 hypothesize and verify, see hy-

pothesize and verify nrrodel-based, 320, 321, 323 non-hierarchical, 326, 327 parallel, 318, 321, 326 serial, 318 top-down, 319-321, 323, 326

convex hull, 34, 422 convolution, 17, 177,443,445,447,

450,451 nrrask, 68 theorenrr, 18

corner, 95 correlation, 20, 176-179,215,459-

461 correspondence, 62, 95, 397, 398,

508-510, 524-526, 528 problenrr, 95, 388, 390, 391, 397 stereo, see stereo correspondence

correspondence problenrr, 416 cost function, 136-143 crack edge, 34, 125-127, 131, 166,

167 criterion

detection, 88 localization, 88 one response, 88

crossover, 302-304 eSG, see constructive solid geonrre­

try curvature

peak, 210 prinrral sketch, 211

curve

545

deconrrposition, 211 detection, 153, 154, 156, 160

cyclopean inrrage, 389 cyclopean separation, 389, 390

daenrron, 328, 346 data structure, 42

hierarchical, 50 relational, 49 traditional, 43

decision rule, 266, 270 deficit of convexity, 35 degradation, 104

atnrrospheric turbulence, 105 relative nrrotion of the canrrera

and object, 105 wrong lens focus, 105

depth, 14, 373, 374, 403 relative, 373 sensing

active, 413 passive, 413

depth nrrap, 377, 402 technologies, 413

difference of Gaussians, 85 dilation, 426-427

conditional, 439-442 Dirac distribution, 17 discrinrrination function, 264-268,

276,277 disparity, 387, 389, 390

gradient, 389, 390 gradient linrrit, 388, 389

distance, 30 chessboard (Ds), 31 city block (D4 ), 31 Euclidean (DE)' 30 Levenshtein, 298

DoG, see difference of Gaussians donrrain-specific constraints, 374 duality (nrrorphological), 424 dynanrric progranrrnrring, 146-149

edge, 3, 5, 34, 376, 377

546

chain, 123, 145 crack, 34 detector, 307 direction, 76 magnitude, 76 relaxation, 124-129, 144, 149

edge detector, 76-85, 376, 407, 414 Canny, 88-91, 487 in multispectral image, 91 Laplacian, 78 Marr-Hildreth,82 zero crossing, 82

elastics, 322 entropy, 19, 458-460 epipolar constraint, 388, 390 epipolar line, 390 erosion, 426, 428-431

ultimate, 439-442 errors

matching, 412 Euler-Poincare characteristic, 224,

423 evaluated graph, 48 event (aspect), 406 exemplar, 265, 272-274, 281, 282 expansion

isotropic, 426

feature, 257 discriminativity, 270 informativity, 270 space, 263 vector, 257

feature synthesis, 90 feedback, 4, 123, 468 fill,426 filter, 56-108, 443-455

Gaussian, 376 median, 74-76, 337

filtering, 67 band-pass, 451, 454 high-pass, 451, 454 inverse, 105 Kalman, 104

Index

low-pass, 451 Wiener, 106

fitness, 357 focus

shape from, see shape from fo­cus

Fourier descriptor, see shape descrip-tion, Fourier

Fourier transform, see transform, Fourier fractal, 215, 491 frame, 260, 262 Freeman code, 46 frequency

spatial, 18 function, 13

autocorrelation, 20 autocovariance, 20 cross correlation, 20 cross covariance, 20 Dirac, 17 distribution, 19 point spread, 22

ganglion cell, 85 Gaussian blur, 36, 84, 88, 96, 210,

211 Gaussian filter, 84, 85, 376 Gaussian smoothing, see Gaussian

blur generalized cones, see generalized cylin-

ders generalized cylinders, 381, 415 genetic algorithm, 301-304,356-363 genus, 224 geometric information, 375 geometric transformation, 2, 61-67 geon, 381, 416 Gestaltist theory, 396 global constraints, 374 Golay alphabet, 435 gradient operator, 68, 76-85

approximated by differences, 78 Kirsch, 81 Laplace, 80

Prewitt, 80 Roberts, 79 Robinson, 81 Sobel, 80

gradient space, 394 grammar, 258, 284-292, 490-494

context-free, 287 context-sensitive, 287 fuzzy, 287 general, 287 inference, 284, 290-292 non-deterministic, 287 regular, 287 stochastic, 287

Index

graph, 47, 113, 132, 146, 178, 221, 222,235,258,284,289,292-299

arc, 48 assignment, 298 evaluated, 48, 132,260,292,294 isomorphism, 292-298 neighbourhood, 241 node, 48 region, 235, 239 region adjacency, 48, 168, 170,

241, 348, 351, 352, 356-360 search, 135-143, 146, 149,322,

323 heuristic, 137-144, 148

similarity, 293, 299 graph matching, 405 grey level, see brightness grey scale transformation, 58 grid, 27

hexagonal, 27 square, 27

group, 217, 220 Lie, 217 plane-projective, 217

grow, 426 guidance

vehicle, 373

HEARSAY, 329

547

heuristic, 6, 138, 139, 144, 149, 164, 166, 175, 351, 353, 363

histogram, 35, 112, 116-120, 165, 459, 460

bimodal, 116-118 cumulative, 60 equalization, 59 modification, 100 multi-dimensional, 120 multimodal, 117 smoothed, 120 transformation, 118

hit or miss transformation, 434 hole, 32 homogeneity, 164, 169-175 homotopic marking, 438 homotopic substitute (of skeleton),

434, 436, 437 homotopic transformation, 432-433 horizon, 405 Hough transform, see transform, Hough hue, 38 human visual system, 374, 377 hypothe~s, 316, 321, 356-363 hypothesize and verify, 210, 242, 321,

323, 356, 405, 408

IRS, 39 illumination, 374 image, 13

binary, 28, 44 co-ordinates, 16 colour, 15, 28 compression, see compression, see

compression cyclopean, 389 digitization, 22-30 dynamic, 16 enhancement, 56 iconic, 43 intensity, see intensity image interpretation, 317-363 monochromatic, 15 multispectral, 15, 28

548

pre-processing, 56-108 quality, 39 reconstruction, 458-463, 467 remotely sensed, 373 restoration, see restoration scale-space, 87 segmented, 43 sequences, 374 sharpening, 78 smoothing, see smoothing static, 15 transform, 443-455 understanding, 6, 316-363

image sharpening, 3 implementation (in Marr's theory),

376 impossible objects, 384 impulse

Dirac, 16 limited, 25

increasing transformation, 427, 430 industrial inspection, 373 inference, 318 inspection

industrial, 373 intensity, see brightness intensity image, 14, 15, 56, 82, 320,

394, 407, 412, 414, 524 interest point, 95 interpretation

3D, see 3D interpretation tree, 350, 351, 405

interval tree, 88, 211 invariants, 196, 215-220, 413

scalar, 217 inverse filtering, 105 invertible transformation, 431 ISODATA, 274, 336 isotropic expansion, 426

Kalman filtering, 104 knowledge, 3, 6, 256-262,301, 304

a priori, 7, 123, 135, 149, 160, 164,170,196,323,329,335,

Index

353, 357, 361 base, 256, 259 procedural, 259 representation, 256-262, 318

label, 197-200, 329, 335-339, 341-354, 358, 360

collision, 198-200 labelling, 197, 222, 329, 336, 337,

341, 343-363 consistent, 343, 345 discrete, 344, 350 probabilistic, 343, 347 semantic, 343

Lagrange multipliers, 395, 514 lake, 35 Landsat, 458 language, 284-292 Laplacian, 78, 376 Laplacian of Gaussian, 84 laser, 414 learning, 265, 269-273, 276-280,

285, 292, 304 from experience, 318

light, 57, 85, 392 source, 15, 393-395 striping, 414

lighting, 375, 392 line

detector, 407, 409 finding, 92 labelling, 347, 382-385, 405 thinning, 94

linear system, 22 local pre-processing, 67-102 locus

visibility, 408, 410, 411 look-up table, 58

map region, 48

Markov chain, 489 Marr (David), 6, 375, 415 Marr paradigm, see Marr's theory

Index

Marr's theory, 82, 320, 375-378, 385 Marr-Hildreth edge detector, 79, 82,

88 matching, 176-179, 299, 301, 318

errors, 412 graphs, 176, 292, 293 relational structures, 290 subgraphs, 298

mathematical morphology, 237 matrix, 44

co-occurrence, 45 matte surface, 392 medial axis, 239 medial axis transform, 237, 433 median filter, see filter, median memory

long term, 328 short term, 328

model, 112, 143, 158, 164, 316-318, 319-328, 355

active contour, 160, 322, 329-335, 509

base, 405 camera, 386 deformable, 322, 329-335 quadric surface, 380 volumetric, 380 wire frame, 379

model-based vision, 375 modelling strategy, 378-382 Moravec detector, 95 morphological transformation, 423-

426 quantitative, 425

morphology, 422-442, 488, 489 grey scale, 422

motion, 396, 507-531 analysis, 507-531

correspondence of interest points, 508, 509, 524-528

differential, 509-512 differential cumulative, 511

assumptions, 509, 528

continuous, 400 field, 508 rotational, 398, 400, 512

549

shape from, see shape from mo­tion

translational, 398, 400, 521, 523 multiview representation, 382 mutation, 302-304

navigation robot, 373

Necker cube, 376 neighbour, 31 neural nets, 275-283

feed-forward, 276 Hopfield, 281, 282 hybrid, 280 Kohonen feature map, 279-281

node (of a graph), 48 noise, 3, 5, 39, 193, 201, 203, 223,

229, 230, 238, 336, 337 additive, 40 Gaussian, 40 impulsive, 40 multiplicative, 40 quantization, 40 salt and pepper, 40 suppression, 98 white, 39

non-maximal suppression, 89, 94

object colouring, 197 description, 263

formal, 262 qualitative, 262, 283 quantitative, 262, 283 relational, 283

identification, 197-200 impossible, 384 labelling, 197, 222 recognition, 255-307 reconstruction, 192, 193

object centred processing, 378

550 Index

object-based co-ordinate system, 375 objective function, 349, 350, 354-

356,358 obstacle avoidance, 373 occlusion, 193, 196, 207, 210, 220,

242, 373, 384, 388, 510 OCR,373 opening, 426, 431-432 optical character recognition, see OCR optical flow, 395, 400, 508, 509,512-

524,528 computation, 508, 509 field, 400 global and local estimation, 516

optimization, 146,147,269,272,276, 281, 299-307

orientation, 374 orthographic

projection, 14, 397, 398, 400 view, 398

pallette, see look-up table parallax, 374 parallel implementation, 5, 44, 50,

129,134,149,159,318,319, 342,346,350,363,391,427, 515,520

path,31 simple, 135

pattern, 262 space, 263 vector, 263

pattern recognition, 255-292 statistical, 257-274, 276, 283 syntactic, 283-292

perception, 36-39, 317, 490 colour, 38 human, 28, 36, 37, 101, 403 visual, 36

perceptron, 275 perceptual organization, 415, 416 perimeter, 131, 166, 167, 196, 202,

406,423 perspective

projection, 14, 15, 400, 413 photometry, 15 picture element, 27 pixel, 27

adjacency, 31 pixel co-ordinate transformation, 62 planning, 318 plausibility (of a match), 409,411 point

sampling, 27 sets (morphological), 423

post-processing, 123, 337, 355, 356, 362

power spectrum, 21 pre-processing, 56-108, 320, 338

adaptive neighbourhood, 96-102 classification, 56 edge detector, see edge detector local, 67-102

predicate logic, 258, 260 primal sketch, 376-377

curvature, 211 primitive

texture, 403 volumetric, 378

probability density, 270

estimation, 270 production

rules, 259 system, 259, 318, 329, 415

projection, 224, 375, 398, 400, 407, 413, 450

2D, see 2D projection orthographic, 14, 397, 398, 400 parallel, 14 perspective, 14, 15, 400

projection., 423 PROLOG, 258 pseudo colour , 60 pyramid, 50,121,122,170-172,319,

466,467, 470 M-pyramid,50

matrix, 50 T-pyramid,50 tree, 50

Index

quadric surface model, 380 quadtree, 52, 170, 175, 199, 202,

222, 223, 241, 466 quantization, 28

range finding active, 413 passive, 413

receptive field, 85 reduce, 428 redundancy

information, 458-463 reflectance, 15, 374, 375, 392 reflectance function, 393, 394 region, 31

concavity tree, 235 decomposition, 221, 240-241 identification, 197-200 skeleton, 215,221,235,237-239,

241 region adjacency graph, 48 region growing, see segmentation,

region growing region map, 48 relation

neighbourhood, 44 spatial,44

relational structure, 259, 283, 284, 290, 292, 318

relaxation, 119, 125, 126, 128, 129, 175,344-350,354,363,390, 395, 514, 516, 517

discrete, 344, 345, 347 probabilistic, 347, 349, 350

reliability (of a match), 409 remote sensing, 61, 64, 120, 121,

337,342,353,373,458,460, 531

representation, 375 3D, 377

complete, 378 geometric, 43 iconic image, 43 intermediate, 14, 42 level of, 42 multiview, 382 relational model, 43 segmented image, 43 skeleton, 381 unique, 378

reproduction, 302-304 resolution

radiometric, 16 spatial, 16 spectral, 16 time, 16

restoration, 102-108 deterministic, 102 inverse filtering, 105 stochastic, 102 Wiener filtering, 106

rigidity, 397 rigidity constraint, 397 robot navigation, 373 rotating mask, 72

551

rotational movement, 398, 400, 512 run length coding, 47, 198, 241, 466

sampling, 23-27 interval, 23 point, 27

saturation, 39 scale, 86-91, 193,376,477-480,486,

489 scale-space, 193, 210, 211, 238, 391 script, 260 seed pixel, 96 segmentation, 5, 112-179, 320

border detection, 136-143, 158, 159

border tracing, 129-135, 146,148 extended, 131-134 inner, 129, 130 outer, 129-132

552

classification-based, 335-337 complete, 5, 112, 113, 161 dynamic programming, 146-149 edge thresholding, 123, 129 edge-based, 112, 122-164, 175 global, 112, 114 Hough transform, 149-159

fuzzy, 158 generalized, 149, 156-158

match-based, 176-179 multithresholding, 117, 119 partial, 5, 112, 123, 161 region construction

from borders, 161 from partial borders, 162

region growing, 97, 112, 164-175,351,353,355,361,362, 414

merging, 131, 164-169 overgrowing, 175 semantic, 351, 353-355 split-and-merge, 170 splitting, 164, 166, 169 undergrowing, 175

region-based, 112, 134, 164-175 semantic, 351

genetic, 355, 356 region growing, 353-355

semithresholding, 116 superslice, 161 texture, 307 thresholding, 113-122, 162, 164,

168, 169 hierarchical, 122 minimum error, 118 multispectral, 120 optimal, 118 p-tile, 116

tree, 170, 172 watersheds, 174, 355

semantic net, 259-260, 318, 343 semantics, 256, 259, 347, 351, 356,

362

Index

sequential matching, 408 sequential thickening, see thicken­

ing, sequential sequential thinning, see thinning, se­

quential shading, 392

shape from, see shape from shad­ing

Shannon sampling theorem, 25 shape, 192-242

2D, see 2D shape 3D, see 3D shape description

area, 202, 207, 221, 222-224, 225, 226, 228, 240

bending energy, 203 border length, 202-203 chord distribution, 204 compactness, 131, 221, 227,

257,359 contour-based, 193, 197, 200-

220 convex hull, 230, 231, 235 cross ratio, 217, 218 curvature, 196, 202,208-214,

239 direction, 221, 227 eccentricity, 224 elongatedness, 193, 221, 225,

227, 238 Euler's number, 224 external, 193, 197 Fourier descriptors, 203, 205-

207 graph, 221, 222, 235 height, 224 internal, 193, 197 invariants, 215-220 moments, 207,214,227,228-

230,241 moments area based, 230 moments contour-based, 229,

230

Index

perimeter, 131, 166, 167, 196, 202

polygonal, 208-210, 212, 240 projection-invariant, 196, 215 projections, 224 rectangularity, 221, 226 region concavity tree, 235 region-based, 193, 197, 215,

220-242 run length, 198, 241 segment sequence, 203, 208 signature, 203 sphericity, 226 spline, 158, 212-214 statistical, 193, 222 syntactic, 192, 193, 209, 241 width, 224

shape from contour, 385, 406 focus, 385 motion, 396-403 optical flow, 400 shading, 392-396, 405 stereo, 385-392 texture, 403-405 vergence, 385 X, 377, 413

shape primitive, 240 sharpening, 78 shrink, 428 sifting, 17 simulated annealing, 304-306, 391 skeleton, 215,221,235,237-239, 241,

381, 422, 433-434, 436 sketch

2.5D, see 2.5D sketch primal, see primal sketch

slant, 404 smoothing, 68-76

averaging, 69 averaging according to inverse

gradient, 71 averaging with limited data va-

lidity, 71 edge preserving, 69 median, see filter, median nonlinear mean filter, 76 order statistics, 75 rank filtering, 75 rotating mask, 72

snake, 160, 322, 329-335, 509 growing, 333

spectral density, 21 spectrum, 21

band-limited, 25 frequency, 446, 454 phase, 446 power, 446

specular surface, 392 spot ranging, 414 state space search, 166 stereo, 374

553

shape from, see shape from stereo stereo correspondence, 388, 391, 397 stereo vision, 386, 397 stochastic process, 19-21

ergodic, 21 stationary, 20 uncorrelated, 20

structure from motion theorem, 397 structuring element (morphological),

424 supergrid, 131, 166, 167 surface

matte, 392 specular, 392

surface models, see B-reps surface orientation, 374, 392 sweep representations, see general­

ized cylinders symbol

non-terminal, 285 terminal, 285

syntactic analysis, 285-292, 490, 492, 494

syntax, 256, 257

554

system approach, 86

texel, 403, 404, 477 texton, 480, 486 texture, 112, 113, 116, 122, 165,307,

335,338,343,403,477-499 coarse, 477, 479-482, 487, 489 description

autocorrelation, 481, 490 autoregression model, 489 chain grammar, 491 co-occurrence, 482, 484, 490 discrete transform, 481 edge frequency, 485 fractal dimension, 491 grammar, 490 graph grammar, 493,494,497 hybrid, 480,490, 497-498 morphology, 488 optical transform, 481 peak and valley, 489 primitive length, 487 run length, 487 shape rules, 491 statistical, 480-490, 495, 497 syntactic, 480, 490-497 texture properties, 486 texture transform, 489

element, 477 fine, 477, 479-482, 487, 489 generation, 491, 492 gradient, 404 hierarchical, 494 primitive, 164, 403, 477, 479,

480, 490, 493, 496, 498 segmentation, 486, 489, 495-497 shape from, see shape from tex-

ture strong, 479, 497 structure, 477, 479 tone, 477, 479, 498 weak, 479, 497

theory computational, 375

Index

Gestaltist, see Gestaltist theory Marr's, see Marr's theory

thickening, 422, 434-439 sequential, 435-439

thinning, 221, 235-237, 239, 422, 434-439

sequential, 435-439 three dimensions, see 3D threshold, 113

optimal, 118 selection, 114, 116, 118

mode method, 117 optimal, 118

thresholding, 58 with hysteresis, 90

tilt, 404 tolerance interval, 208 top-down approach, 288, 290, 319,

320, 375, 408 topographic characterization, 412 topographic primal sketch, 413 topology, 34 training set, 268-269,271-273,275,

277, 278, 291, 292, 335, 341 transform

binary, 461 cosine, 448, 449,461,463, 470 Fourier, 16-19, 21-25, 33, 67,

68, 78, 104-107, 177, 193, 205-207,443,445-446,447, 449-452, 454, 461, 481

inverse, 18 Haar, 449 Hadamard, 447-448, 449,461,

470 Hadamard-Haar, 449 Hough, 149-159,215,405,414,

450 image, 443-455 Karhunen-Loeve, 450,461 linear discrete, 443-455 orthogonal, 444, 448 Paley, 449

Radon, 450 recursive block coding, 461 sine, 449 Slant-Haar, 449 Walsh, 449, 461 Walsh-Hadamard, 448

transformation affine, 63 anti-extensive, 430 bilinear, 62 brightness correction, 57 geometric, 61-67

brightness interpolation, 64 change of scale, 63 pixel co-ordinate, 62 rotation, 63 skewing, 63

grey scale, 58-60 histogram equalization, 59 logarithmic, 60 pseudo colour , 60 thresholding, 58

homotopic, 432-433 increasing, 427, 430 invertible, 431

Index

morphological, see morphologi­cal transformation, 422

pixel brightness, 57-60 translational movement, 398, 400,

521,523 transmission

progressive, 466-468 smart, 468

tree interval, 211

tree pruning, 141, 289 two dimensional, see 2D two dimensions, see 2D

ultimate erosion, 439-442 unsharp masking, 78 upper-semi-continuinty, 426

vanishing points, 405

vehicle guidance, 373 velocity

field,509 computation, 527

555

smoothness constraint, 513, 516, 520

vector, 508 vergence

shape from, see shape from ver-gence

viewpoint, 15 visibility, 410 visibility locus, 408, 410, 411 VISIOn

active, 400 model-based, 375 stereo, 386, 397

VISIONS, 328, 329 visual

potential, 406 visual system

human, 37, 374, 375, 377, 385, 397, 400, 415, 467, 490

volumetric model, 380 volumetric primitives, 378 voxel, 380

wavelength, 15, 28 Wiener filtering, 106 WINSOM,379 wire-frame model, 379

x shape from, see shape from X

zero crossing, 79, 82, 89, 210, 211, 376, 377, 391, 448, 486, 520

Zuniga-Haralick operator, 96, 525