• Part 1: Image Formation and Image Models
    1. Cameras
      • Pinhole cameras, including perspective and affine projection
      • Cameras with lenses, including geometric optics, thin lenses and real lenses
      • The human eye
      • Sensing, including CCD cameras and sensor models
    2. Geometric Camera Models
      • Elements of analytical Euclidean Geometry, including coordinate systems, homogenous coordinates, and rigid transformations
      • Camera parameters and perspective projection, including intrinsic and extrinsic parameters
      • Affine cameras and affine projection
    3. Geometric Camera Calibration
      • Least squares parameter estimation, including linear least squares
      • A linear approach to camera calibration, including estimation of the projection matrix, extrinsic and intrinsic parameters and degenerate point configurations
      • Taking radial distortion into account, including estimation of the projection matrix, extrinsic and intrinsic parameters and degenerate point configurations
      • Analytical photogrammetry
      • An application: mobile robot localization
    4. Radiometry --- Measuring Light
    5. Sources, Shadows and Shading
    6. Color
  • Part II: Early Vision: Just One Image
    1. Linear Filters
    2. Edge Detection
    3. Texture
  • Part III: Early Vision: Multiple Images
    1. The Geometry of Multiple Views
    2. Stereopsis
    3. Affine Structure from Motion
    4. Projective Structure from Motion
  • Part IV: Mid-Level Vision
    1. Segmentation by Clustering
    2. Segmentation by Fitting a Model
    3. Segmentation and Fitting using Probabilistic Methods
    4. Tracking with Linear Dynamic Models
  • Part V: High-level Vision: Geometric Methods
    1. Model-Based Vision
    2. Smooth Surfaces and their Outlines
    3. Aspect Graphs
    4. Range Data
  • Part VI: High-level Vision: Probabilistic and Inferential Methods
    1. Finding Templates using Classifiers
    2. Recognition by Relations between Templates
    3. Geometric Templates from Spatial Relations
  • Part VII: Applications
    1. Application: Finding in Digital Libraries
    2. Application: Image-based Rendering
  • Bibliography
  • Index