第1 章计算机视觉概述······································································ 1__eol__1.1 人类视觉及特性····································································· 1__eol__1.1.1 视觉特点····································································· 2__eol__1.1.2 视觉的亮度特性···························································· 3__eol__1.1.3 视觉的空间特性···························································· 5__eol__1.1.4 视觉的时间特性···························································· 6__eol__1.1.5 视知觉········································································ 8__eol__1.2 计算机视觉理论和框架··························································· 10__eol__1.2.1 计算机视觉的研究目的、任务和方法································ 11__eol__1.2.2 视觉计算理论······························································ 11__eol__1.2.3 框架问题和改进··························································· 16__eol__1.3 3D 视觉系统和图像技术·························································· 18__eol__1.3.1 3D 视觉系统流程·························································· 18__eol__1.3.2 计算机视觉和图像技术层次············································ 19__eol__1.3.3 图像技术类别······························································ 20__eol__1.4 本书结构框架和内容概况························································ 21__eol__1.4.1 结构框架和主要内容····················································· 22__eol__1.4.2 各章概况···································································· 22__eol__1.5 各节要点和进一步参考··························································· 23__eol__第2 章摄像机标定···········································································25__eol__2.1 线性摄像机模型···································································· 25__eol__2.1.1 完整成像模型······························································ 26__eol__2.1.2 基本标定程序······························································ 27__eol__2.1.3 内、外参数································································· 28__eol__2.2 非线性摄像机模型································································· 30__eol__2.2.1 畸变类型···································································· 31__eol__2.2.2 标定步骤···································································· 33__eol__2.2.3 标定方法分类······························································ 34__eol__2.3 传统标定方法······································································· 35__eol__2.3.1 基本步骤和参数··························································· 36__eol__2.3.2 两级标定法································································· 36__eol__2.3.3 精度提升···································································· 40__eol__2.4 自标定方法·········································································· 41__eol__2.5 各节要点和进一步参考··························································· 44__eol__第3 章 3D 图像采集··········································································45__eol__3.1 高维图像············································································· 45__eol__3.2 深度图················································································ 46__eol__3.2.1 深度图和灰度图像························································ 47__eol__3.2.2 本征图像和非本征图像·················································· 47__eol__3.2.3 深度成像方式······························································ 49__eol__3.3 直接深度成像······································································· 50__eol__3.3.1 飞行时间法································································· 50__eol__3.3.2 结构光法···································································· 53__eol__3.3.3 莫尔等高条纹法··························································· 55__eol__3.3.4 同时采集深度和亮度图像··············································· 58__eol__3.4 立体视觉成像······································································· 59__eol__3.4.1 双目横向模式······························································ 59__eol__3