HANDBOOK OF COMPUTER VISION AND APPLICATIONS Volume 3 Systems and Applications ACADEMIC PRESS Bernd Jähne Horst Haußecker Peter Geißler 1 1 2 2 2 24 11 1 1 2 2 2 24 11 Handbook of Computer Vision and Applications Volume 3 Systems and Applications Handbook of Computer Vision and Applications Volume 3 Systems and Applications Editors Bernd Jähne Interdisciplinary Center for Scientific Computing University of Heidelberg, Heidelberg, Germany and Scripps Institution of Oceanography University of California, San Diego Horst Haußecker Peter Geißler Interdisciplinary Center for Scientific Computing University of Heidelberg, Heidelberg, Germany ACADEMIC PRESS San Diego London Boston New York Sydney Tokyo Toronto This book is printed on acid-free paper. Copyright © 1999 by Academic Press. All rights reserved. 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Copy fees for pre-1999 chap- ters are as shown on the title pages; if no fee code appears on the title page, the copy fee is the same as for current chapters. ISBN 0-12-379770-5/$30.00 ACADEMIC PRESS A Division of Harcourt Brace & Company 525 B Street, Suite 1900, San Diego, CA 92101-4495 http://www.apnet.com ACADEMIC PRESS 24-28 Oval Road, London NW1 7DX, UK http://www.hbuk.co.uk/ap/ Library of Congress Cataloging-In-Publication Data Handbook of computer vision and applications / edited by Bernd Jähne, Horst Haussecker, Peter Geissler. p. cm. Includes bibliographical references and indexes. Contents: v. 1. Sensors and imaging — v. 2. Signal processing and pattern recognition—v. 3. Systems and applications. ISBN 0–12–379770–5 (set). — ISBN 0–12–379771-3 (v. 1) ISBN 0–12–379772–1 (v. 2). — ISBN 0–12–379773-X (v. 3) 1. Computer vision — Handbooks, manuals. etc. I. Jähne, Bernd 1953– . II. Haussecker, Horst, 1968– . III. Geissler, Peter, 1966– . TA1634.H36 1999 006.3  7 — dc21 98–42541 CIP Printed in the United States of America 9900010203DS987654321 Contents Preface xv Contributors xvii 1 Introduction 1 B. Jähne 1.1 Computer vision architecture 2 1.2 Classes of tasks 4 I Architecture of Computer Vision Systems 2 Field Programmable Gate Array Image Processing 9 K H. Noffz, R. Lay, R. Männer, and B. Jähne 2.1 Introduction 10 2.2 Field programmable gate arrays (FPGAs) 11 2.3 FPGA-based image processing systems 15 2.4 Programming software for FPGA image processing 21 2.5 Application examples 26 2.6 Conclusions 29 2.7 References 30 3 Multimedia Architectures 31 B. Jähne and H. Herrmann 3.1 Introduction 32 3.2 Signal processing performance of microprocessors 33 3.3 Principles of SIMD signal processing 36 3.4 Comparative analysis of instruction sets 38 3.5 SIMD algorithms for signal processing 45 3.6 Conclusions and outlook 50 3.7 References 52 4 Customizable Medical Image Processing Systems 53 A. M. Demiris, C. E. Cardenas S., and H. P. Meinzer 4.1 Introduction 53 4.2 State of the art 57 4.3 Identifying development phases 58 4.4 Components of the architecture 60 4.5 Implementation of the architecture 70 4.6 Conclusions 74 v vi Contents 4.7 Future work 74 4.8 References 75 5 Software Engineering for Image Processing and Analysis 77 D. Paulus, J. Hornegger, and H. Niemann 5.1 Introduction 78 5.2 Object-oriented software engineering 79 5.3 Programming languages for image processing 84 5.4 Image understanding 88 5.5 Class hierarchy for data and algorithms 91 5.6 Conclusion 99 5.7 References 100 6 Reusable Software in Computer Vision 103 U. Köthe 6.1 Introduction 104 6.2 Generic programming 107 6.3 Two-dimensional iterators 114 6.4 Image data accessors 118 6.5 Generic algorithms on images 120 6.6 Performance 127 6.7 Image iterator adapters 127 6.8 Conclusions 131 6.9 References 132 7 Application-oriented Assessment of CV Algorithms 133 P. Klausmann, S. Fries, D. Willersinn, U. Stilla, and U. Thönnessen 7.1 Introduction 133 7.2 Analytical versus empirical performance analysis 134 7.3 Application-oriented empirical algorithm assessment 136 7.4 The assessment system 143 7.5 Example: Assessment of a detection algorithm 145 7.6 Conclusion 149 7.7 References 149 8 A Hybrid Neuro-AI-Architecture 153 G. Hartmann, U. Büker, and S. Drüe 8.1 Introduction 153 8.2 Holistic recognition of segmented 2-D objects 156 8.3 Holistic recognition of 3-D objects in real scenes 171 8.4 The hybrid neuro-artificial intelligence (AI) system 182 8.5 Conclusion 194 8.6 References 195 9 Active Vision Systems 197 B. Mertsching and S. Schmalz 9.1 Introduction 197 9.2 Marr’s theory and its drawbacks 198 9.3 Basic concepts of active vision 202 9.4 Examples for active vision environments 209 9.5 Applications for active vision devices 213 Contents vii 9.6 Conclusion 215 9.7 References 215 10 The Global Algebraic Frame of the Perception-Action Cycle 221 G. Sommer 10.1 Introduction 222 10.2 Design of behavior-based systems 223 10.3 Algebraic frames of higher-order entities 230 10.4 Applications of the algebraic framework 249 10.5 Summary and conclusions 259 10.6 References 260 II Industrial and Technical Applications 11 Market and Future Needs of Industrial Imaging 267 K. Singer 11.1 Introduction 267 11.2 Historical roots 268 11.3 Market overview 271 11.4 Economical situation 271 11.5 Mainstream technology used today 276 11.6 Future trends 277 11.7 Conclusions 279 11.8 References 282 12 Applications of Morphological Operators 283 P. Soille 12.1 Introduction 283 12.2 Geosciences 284 12.3 Material sciences 284 12.4 Biological and medical imaging 286 12.5 Industrial applications 287 12.6 Identification and security control 288 12.7 Document processing 289 12.8 Image coding 290 12.9 Other applications 290 12.10 References 291 13 Industrial Object Recognition 297 T. Wagner and P. Plankensteiner 13.1 Problem, market and solutions 297 13.2 Compact solution: intelligent cameras 300 13.3 Object recognition for many object types 305 13.4 Discussion and outlook 311 13.5 References 313 14 Character Recognition in Industrial Production 315 R. Koy-Oberthür, T. Münsterer, and S. Sun 14.1 Introduction 315 14.2 Codings 316 14.3 Code generation and code control 317 viii Contents 14.4 Functional principle and system setup 317 14.5 Examples of applications 321 14.6 References 328 15 Motion Tracking 329 R. Frischholz 15.1 Introduction 329 15.2 Flexible automatic motion tracking 333 15.3 Sample applications 340 15.4 Conclusion and remarks 343 15.5 References 344 16 3-D Image Metrology for Industrial Production 345 H. A. Beyer 16.1 Introduction 345 16.2 Geometry check of wing roots 347 16.3 Three-dimensional image metrology in shipbuilding 349 16.4 Machine control and TI 2 technology 351 16.5 Developments 354 16.6 Conclusions 357 16.7 References 357 17 Reverse Engineering Using Optical Range Sensors 359 S. Karbacher, G. Häusler, and H. Schönfeld 17.1 Introduction 360 17.2 Related work 362 17.3 Three-dimensional sensors 364 17.4 Calibration 364 17.5 Registration 365 17.6 Surface reconstruction 368 17.7 Surface modeling and smoothing 369 17.8 Examples 376 17.9 Conclusions 379 17.10 References 379 18 Topographical Maps of Microstructures 381 T. Scheuermann, G. Wiora and M. Graf 18.1 Introduction 382 18.2 Depth-from-focus approaches 382 18.3 System description 384 18.4 Optical theory 387 18.5 Reconstruction of topography 392 18.6 Systematic errors 397 18.7 Measurement of layer thickness 401 18.8 Applications 406 18.9 Conclusions 407 18.10 References 409 Contents ix 19 Processing of Digital Elevation Maps 411 P. Soille 19.1 Introduction 411 19.2 Geodesic interpolation of contour data 412 19.3 Drainage network detection 418 19.4 Watershed detection 424 19.5 Concluding remarks 425 19.6 References 426 20 3-D Modeling of Objects from Image Sequences 429 R. Koch 20.1 Introduction 429 20.2 System overview 431 20.3 Image acquisition and calibration 432 20.4 Stereoscopic depth estimation 434 20.5 Three-dimensional model building 440 20.6 Uncalibrated monocular sequences 445 20.7 Conclusions 448 20.8 References 448 21 Three-Dimensional Fast Full-Body Scanning 451 N. Stein and B. Minge 21.1 Introduction 451 21.2 Evaluation hardware and software 454 21.3 Mechanical design 455 21.4 Measuring process 456 21.5 Ranges of application 456 21.6 References 466 22 3-D Model-Driven Person Detection 467 B. Radig, O. Munkelt, C. Ridder, D. Hansel, and W. Hafner 22.1 Introduction 467 22.2 The object model 468 22.3 Appearance and its representation 471 22.4 Matching 475 22.5 Implementation 477 22.6 Applications 480 22.7 References 482 23 Single-Perspective 3-D Object Recognition 485 S. Lanser, C. Zierl, and B. Radig 23.1 Introduction 485 23.2 The MORAL object-recognition system 487 23.3 Applications 495 23.4 Conclusion 498 23.5 References 499 [...]... physical sciences and the many novel techniques to acquire images The second is between basic research and applications When a reader with a background in one of the fields related to computer vision feels he has learned something from one of the many other facets of computer vision, the handbook will have fulfilled its purpose The handbook comprises three volumes The first volume, Sensors and Imaging, covers... co-head of the research group, Cognitive Systems, at the Bavarian Research Center for KnowledgeBased Systems (FORWISS) In 1996 he was one of the founders of MVTec Software GmbH, the vendor of the image analysis tool HALCON His research interests include computer vision and object recognition, image understanding, and CAD-based vision He also works on video applications for autonomous mobile systems. .. respectively He is currently an associate professor in Computer Science at the University of Western Ontario His research interests are in Computer Vision and include the measurement and interpretation of both optical and range flow and tracking (deformable) objects in long image sequences John Barron, Dept of Computer Science Middlesex College, The University of Western Ontario, London, Ontario, N6A 5B7,... joined the computer vision group in Paderborn and got his doctoral degree in electrical engineering in 1995 Currently he holds the position of an Oberingenieur in Paderborn His main research interests are active vision systems, knowledgebased and neural recognition strategies for hybrid systems, and the use of parallel and distributed computing for the development of realtime vision systems Dr.-Ing Ulrich... (Paris), and RCA (Zürich) At the University of Munich and the RIKEN Institute in Tokyo he worked on optical and electronical image processing and nonlinear optical feedback systems His current research interests include the investigation of the physical limits of range sensing and the construction of sensors that work at these limits and cover the nanometer to meter range, with applications in industry and. .. radiometric measurement, and industrial automation between 1968 and 1976, and head of development until 1979 Since then he joined the faculty of Electrical Engineering at the University of Paderborn and has been a member of the governing board of the Heinz Nixdorf Institut, a center of interdisciplinary research in the field of computer science at Paderborn University Between 1983 and 1987 he served as... formation and acquisition The second volume, Signal Processing and Pattern Recognition, focuses on processing of the spatial and spatiotemporal signal acquired by imaging sensors The third volume, Systems and Applications, describes how computer vision is integrated into systems and applications Prerequisites It is assumed that the reader is familiar with elementary mathematical concepts commonly used in computer. .. topics of interest The individual chapters are written in a self-consistent way with extensive cross-referencing to other chapters of the handbook and external references The CD that accompanies each volume of the handbook contains the complete text of the handbook in the Adobe Acrobat portable document file format (PDF) This format can be read on all major platforms Free Acrobat reader version 3.0 1 for... regarded as an integral process Computer vision is understood as the host of techniques to acquire, process, analyze, and understand complex higher-dimensional data from our environment for scientific and technical exploration In this sense the handbook takes into account the interdisciplinary nature of computer vision with its links to virtually all natural sciences and attempts to bridge two important... images For a more for- xv xvi Preface mal treatment of the corresponding subject including proofs, suitable references are given How to use this handbook The handbook has been designed to cover the different needs of its readership First, it is suitable for sequential reading In this way the reader gets an up-to-date account of the state of computer vision It is presented in a way that makes it accessible . 722 33 .4 Image analysis 725 33 .5 Stability and validation 730 33 .6 Applications 732 33 .7 Outlook 733 33 .8 References 734 xii Contents 34 Mathematical Modeling of Ca 2+ -Fluorescence Images 737 D Geißler 1 1 2 2 2 24 11 1 1 2 2 2 24 11 Handbook of Computer Vision and Applications Volume 3 Systems and Applications Handbook of Computer Vision and Applications Volume 3 Systems and Applications Editors Bernd Jähne Interdisciplinary. HANDBOOK OF COMPUTER VISION AND APPLICATIONS Volume 3 Systems and Applications ACADEMIC PRESS Bernd Jähne Horst Haußecker Peter Geißler 1 1 2 2 2 24 11 1 1 2 2 2 24 11 Handbook of Computer Vision and