## Robot Vision |

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### Contents

Introduction | 1 |

Image Formation Image Sensing | 18 |

Geometrical Properties | 46 |

Copyright | |

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### Common terms and phrases

angle binary image boundary BRDF calculus of variations camera chapter components computed consider constraint convex convolution coordinate system corresponding curve defined determine differential direction discrete discussed distance distribution edge edge detection equations estimate Euler number example extended Gaussian image figure filter Fourier transform frequency Gaussian curvature Gaussian sphere given gradient space gray-level Hint histogram image brightness image irradiance image plane image processing integral inverse iterative labeling Laplacian lens light sources linear machine vision matching matrix method minimize motion field needle diagram neighbors noise object obtained occluding oo roo operator optical axis optical flow orientation histogram parallel parameters partial derivatives photometric stereo picture cells point-spread function problem projection quaternion radiance recover reflectance map region result rotation rotationally symmetric sampling sensor shape shift-invariant Show smooth solid of revolution solution spatial Suppose surface normal surface orientation surface patch tessellation values vector vision system zero