Index

A Activation function(s), 1097, 1098, 1100 Abbe K-mirror, 1510, 1511 Active infrared, 399 Abbe prism, 229, 230, 254 Active lighting, 627 Aberrations, 34, 174, 193, 196–200, 204, 209, 228, Active pattern projection, 43 246, 342, 350, 1363, 1373, 1389, 1426, 1461, Active pixel sensor (APS), 385 1496, 1497, 1543 48V Actuation system power supply, 1311 Abnormalities in manufactured parts, 1080 Actuators, 938, 1118, 1129–1131 Abrasives, 1544 – controller, 1310–1311 Absentee layers, 188–189 – system, 1310–1313 Absolute value, 1578, 1579, 1608, 1667, 1741 Acuity of camera, 492 Absorber, 163, 183, 253 Adaptation, 90, 93, 99–100, 107, 108, 111, 114 Absorbing materials, 183, 253 Adaptive logic module, 1108 Absorption, 162–168, 170, 180, 227, 246, 253 Adaptive LUTs, 1108 Absorption coefficient, 163, 522, 525, 526 Adaptive thresholding, 555, 1281 Absorptive ND filters, 227–228 ADC. See Analogue-to-digital converter (ADC) Abstract concepts, 1055, 1056 Adding new QT functions, 912–914 Abstract logical reasoning, 43 Adding/removing subclassifiers, 688, 689 Abstract relationships, 1033, 1056 Adding two images, 578 Acceptable, 1033, 1046, 1048, 1059, 1064, 1070 Add-on hardware, 43 Acceptable loaf or cake, 70 Adhesive, 33, 1395, 1501 Acceptable solution, 699 – joints, 1551, 1553 ‘Acceptable’ textures, 840 Ad hoc, 782, 784, 796, 1292 Accept/reject, 16, 1071 – solution, 1285 – actuators, 540 Adjacency, 620 – deflector (array of air jets), 1429–1431 4-Adjacency, 601 – mechanism, 532, 1141, 1489 8-Adjacency, 601 Accessories, 452, 464 Adjustable field splitter, 1386, 1388, 1515 Accommodation, 91, 102–103, 110, 111 Adjusting the spectrum, 125–127 Accumulating the histogram, 1120, 1126 ADM. See Angle DistanceMap (ADM) Accumulator array, 613 Adobe illustrator, 2088 Accuracy, 1262, 1271, 1272, 1274, 1279, 1280, 1283 Adobe Photoshop, 57 – of calibration, 1306 Adobe RGB, 142, 441 Acetate, 1474, 1476, 1546 Aerial/satellite image, 17 Acetone, 175, 248–250 Aerosol, 1335 Achromat, 198, 254 – assembly, 13 Achromatic colours, 151 – droplet/particle sizes, 1456 Achromatic doublet, 198, 254 – spray, 30, 1353, 1355, 1454, 1456, 1503, Achromatic feature, 679 1540, 1542 Achromatic lenses, 198, 254, 504 – assembly, 521, 530, 1558, 1586 Achromatic (neutral) tones, 672 – cone, 1503, 1540 Acid resistance, 177, 178 – jet, 13 Acousto-optic modulators, 1450 – valve, 520 AC power regulation, 552 Aesthetic appeal, 44, 1290 Acquiring image, 953 Aesthetic appearance, 63 Acquisition of images, 463 Aesthetic criteria, 55 Acryilic, 175 Aesthetic judgment, 70 Acrylic resin, 272, 277 Afterglow, 517, 518 2210 Index

AGC. See Automatic gain control (AGC) Ambient temperature, 457 Aging, 288, 291, 300, 552 Ambiguity distance, 626 – of lamps, 1301 Ambiguous figure, 106 Agriculture, 17, 56, 62, 63, 66, 77 Amdahl’s law, 105, 1107, 1134 AGV. See Autonomously guided vehicle (AGV) – of parallelism, 1105 Ahrens bi-refringent material, 1535 American National Standards Institute, 150 AI language, 683, 1033 Amethyst, 175 Air-borne droplets, 1454 Amici roof prism, 231, 233, 254 Air bubbles, 510, 1202, 1220, 1427, 1454, 1489, Ammonium chloride, 1503 1490, 1541 Amorphous carbon, 183, 253 Aircraft turbine blades, 44 Amorphous selenium, 458 Air-glass interface, 164, 165, 167, 226, 238, 239 Amorphous silicon, 404, 417–148 Air-jet purge, 210 Amorphous silicon panels, 417–418 Air purge, 72, 1410, 1432, 1504, 1541, 1550 Amphibians, 110 Airy disc, 200 Amplitude, 164, 165, 168, 169, 234–236 Alcohol, 118, 175, 249 Analog logarithmic amplifier, 545, 557, 564 Algorithms, 9, 11, 17, 19, 20, 31, 41, 43, 45, 47, Analog logarithmic transformation, 556, 558 49–51, 53–56 Analogue hardware, 708 – development environment, 982, 1314 Analogue inputs, 944, 978 – heuristics, 18 Analogue outputs, 944, 978 – optimisation, 1115, 1121–1122 Analogue processing, 6, 18 – robustness, 1206 Analogue television, 479, 481 – tuning, 1104, 1131–1132 Analogue-to-digital converter (ADC), 385, 388, 391, Aliasing, 420, 422 449, 461, 464, 555 Alignment, 239, 252–253, 1244, 1245 Analysis, 774, 781, 792–794, 796 ALIS 600, 28, 1420, 1423 – beam profiles, 314–316 Alkali and phosphate resistance, 178 – binary texture, 1324–1328 Allegro 3121 Hall effect sensor, 1312 – a compound lens, 193–194 Alligators, 111 – lighting patterns, 315 Allowable deviations, 1230 – pairs of images, 1153 Alloy casting, 2078 – texture, 63 Alloy toroidal component, 32 Anamorphic image transformation, 216 Alpha classifier, 1087, 1089, 1090 Anamorphic imaging, 1537 Alphanumeric characters, 47 Anamorphic mirrors, 212–213 Alternate, 1107–1110, 1115, 1132 Anamorphic optics, 1352, 1358–1359, 1386, 1462 Alternate image, 906–909, 912, 914, 919, 922, 925, Anamorphic prisms, 232–233 926, 928, 932, 934, 935, 950–953, 955, 962, 964–967, Anamorphic warping, 272 970, 971, 974–978, 1577, 1578, 1581, 1600, 1606, Anatomy, 118 1632, 1670, 1675, 1687, 1689, 1691, 1693, 1726, ancestor/2, 1043 1729, 1743, 1753, 1755, 1756, 1765, 1790, 1794, Anchor points, 836 1797, 1798, 1813, 1830, 1833, 1836, 1839, 1840, AND function, 578, 591 1844, 1850, 1877, 1884, 1890, 1904, 1929, 1930, ANDing two images, 592 1944, 1955, 1959 Angle distance map (ADM), 634, 639–646 Aluminium, 177, 206, 244, 245, 510, 519, 523, 537 Angle of illumination, 121, 236 – castings, 510 Angle of incidence, 164–166, 168, 184–186, 204, – coatings, 205, 249 225, 226, 237 – mirrors, 1298 Angle of polarisation, 162 – ring-pull, 523 Angles, 599, 613, 618, 920, 931, 936, 963, 967, 1207, – sheet, 337 1208, 1217, 1219 – window, 416 Angular acceptance range, 263–265 Aluminium oxide, 404 Angular dependency, 432 ‘‘Always succeed’’, 1038, 1041, 1043, 1045 Angular deviation, 2065, 2070 Amber bottle, 561–562 Angular distribution of ‘‘mass,’’ 603 Ambient light(ing), 9, 18, 20, 22, 31, 36, 38, 42, 75, 121, Angular frequency, 203 124, 133, 289, 290, 304, 336, 1203, 1205, 1298, 1341, Angular position, 602, 2066, 2079 1353, 1363, 1385, 1426, 1437–1438, 1474–1476 Angular second moment, 619 Index 2211

Animals, 62, 66, 70, 77–79, 81 Arduino, 2128 – carcasses, 63 Area-array sensor 26, 479, 482, 487–489 – eyes, 33 Area-scan, 509, 511, 516, 517 – hides, 39 – camera, 30, 40, 1203 – vision, 5, 33–34, 90–114 – rates, 429 Anisotropic diffusion filter, 1588 Argon, 1244 Anisotropy, 786, 1430 Arguments, 906, 945, 950, 953 Annealing tunnel, 55 Arithmetic logic unit (ALU), 1115 Annotating images, 1622, 1671, 1892, 1909, 1949 Arithmetic operators, 986 Annulus, 587, 1352–1354, 1364, 1386–1390, 1417, Array camera, 1352, 1357, 1363–1365, 1369, 1373, 1424–1426, 1495, 1496, 1533–1534, 1537 1383, 1396, 1411, 1415, 1439, 1456, 1467, 1480, Anomalies, 688, 689 1494, 1501, 1502, 1521, 1530, 1534, 1548 ANSI B1.1, 503 Array of LEDs, 1362, 1366, 1373, 1413, 1429, 1443, ANSI C, 1112 1466, 1467, 1470, 1479, 1541 Anti-aliasing (AA) filters, 420, 444 Array of lights, 1032 Antiblooming, 367–369, 371, 377, 379, 383 Array of logic gates, 43 Anti-extensive opening, 868 Array of spots, 1354, 1355, 1458, 1462, 1464, 1497–1499 Antilog, 700 Array representation, 704, 708–709, 724, 728–729 Antilogarithm (exponential), 575 Array-scan, 322 Antimony trisulfide, 358 Array-scan camera, 18, 20 Anti-parallel, 786 Arrays of positive integers, 805 Anti-reflective coating, 165, 184–188, 230, 243, 249, Articulated objects, 70–71, 775 254, 336, 425 Artificial day-light lamp, 125 Anti-tamper fixings, 511 Artificial intelligence (AI), 14, 43, 53, 55, 62, 1148, 1154 Any view direction, 634 Artificial intelligence language prolog, 1032 Apertures, 91, 108, 161, 199, 226, 252, 488, 493, Artificial limbs, 44 1157, 1159, 1292, 1298, 1299 Artificial neural networks, 70, 1096–1101 – effects, 423 Artificial neurons, 1096–1099 – size, 95 Artificial vision, 3–10, 12, 14, 33 Apex, left-T, right-T, 829 Asparagus, 1291, 1294, 1304 Apochromat, 199 Aspect ratio, 212, 479, 481–482, 487, 488, 1163, 1292, Appearance, 3, 4, 13, 32, 42, 46, 50 2067, 2083 Appearance is everything, 1339 Asperger’s syndrome, 302 Apple Macintosh Computers, 134 Aspheric lenses, 186, 196, 198, 254, 335 Apples, 669, 671, 679, 684, 1262 Aspheric plastic optics, 344 – diameters, 68 Assembling food products, 63 Application development environment, 982 Assembly, 4, 13, 50, 1106, 1359, 1415, 1481, 1487, Application requirements, 7, 8, 47, 58 1491, 1548, 1555 Approximate method, 698, 740, 741, 758 Assignment, 1033, 1035, 1044 – heuristics, 43 Associative, 868 Arbitrarily curved objects, 635 Astigmatism, 199, 202 Arbitrarily shaped objects, 634 Astronomical telescopes, 1461 Arbitrary Boolean function, 1107 Asymmetry, 1156 Arbitrary image textures, 874 Asynchronous area cameras, 489 Arbitrary lighting pattern, 1352, 1359–1363 Asynchronous camera, 489 Arbitrary neighbourhoods, 891 Asynchronous protocols, 501 Arbitrary operations, 891 Asynchronous triggering, 1300 Arbitrary shapes, 774, 791, 1267 Atmosphere, 161, 205, 400, 402, 403, 405, 407 Arbitrary spectrum, 125, 139, 1353, 1427–1429 Atmospheric attenuation, 406 Arbitrary templates, 873 Atmospheric window, 403 Arbitrary threshold, 792 Atomic force microscopes, 332 Archeological artifacts, 510 Atomic number, 413, 418 Archetypal machine vision system Attachment lenses, 1544 Archibald diagram, 325, 327 Attenuating medium, 41 Archimedes spiral, 1455, 1537, 1540 Attenuation of x-rays, 413 Arc lamps, 37 Attitudes, 15, 55, 57, 58 2212 Index

Attractive appearance, 1285 AXI. See Automated X-ray Inspection (AXI) Attractive wood grain, 50 Axial symmetry, 345 Attributed graphs, 636 Axicons, 1372–1374, 1495, 1496, 1534 Audible noise, 1335 – conical lens, 1358, 1372–1374, 1389, 1495, Author’s web page, 917, 970 1496, 1534 Autism, 302 AXIS 210, 2126 Auto-correlation function (ACF), 617 Axis of minimum second moment, 760, 763, 1616, Auto-iris lens, 1352, 1363 1723, 1724, 1777 Automated assembly, 634, 637, 641–644, 1485 Axis reflection, 452 Automated butchery, 67 Axis transformations, 612 Automated configuration, 1315 Automated handling, 13, 52–53 B Automated machining, 857 Baby food, 510, 523 Automated parts delivery, 511 Back-filling, 1302 Automated placing, 13 Back focal distances, 432, 450 Automated shearing of sheep, 63 Background, 94, 96, 106, 110, 114, 805, 808 Automated slate inspection, 54 – clutter, 784, 798 Automated stitching, 13 – correction, 1239 Automated thresholding, 53, 999, 1141, 1160, – information, 1256 1163, 1610 – intensity, 1204, 1205, 1319 Automated vehicle guidance, 1485, 1520 – noise, 827 Automated visual inspection (AVI), 6, 15, 21, 23, 26, – pixels, 805, 808 1332, 1342 – subtraction, 1303 Automated X-ray Inspection (AXI), 41, 42, 508, 509 Back-illumination, 20, 325, 327, 918, 920, 921, 1138, Automatic exposure adjustment, 1315 1141, 1156, 1157, 1202, 1218, 1245, 1352, 1363–1364, Automatic gain control (AGC), 40, 393, 493, 494, 1141, 1371, 1383, 1386, 1389, 1393, 1423, 1457, 1490, 1352, 1363, 1438 1156, 1157, 1518 Automatic machining, 64 Back-light(ing), 41, 52, 302, 305, 310, 705, 1148, Automatic saving of images, 916, 949 1149, 1205, 1214, 1215, 1217, 1218, 1222, 1352, Automatic source code generation, 982, 1028 1362, 1364–1367, 1383, 1396, 1398, 1456, 1479, Automobiles, 73 1510, 1513 – brake mechanisms, 1457 Back-projection, 676, 677 – brake pad, 13, 933, 2067 Back-scatter(ed), 530, 537, 632 – brake unit, 13 Back-propagation algorithm, 1099–1101 – break pads, 1693 Back-side illumination, 367, 369, 376–377, 384 – connecting rod, 759, 767 Back-side reflection, 432 – con-rod, 604 Back-side thinning, 365, 377, 384 – engines, 515 Back-silvered, 1298 – headlamp, 276 Back-tracking, 1032, 1035, 1038, 1041–1043 – lights, 276 Backus-Naur Form (BNF), 1062 Automotive industry, 23 Baffles, 289, 1491 Automotive parts, 52, 53, 1138 Baked dough, 1545 Automotive safety glass, 1232 Baked goods, 13, 44, 65–67 Autonomously guided vehicle (AGV), 1548, 1555 Bakery, 1339 Autonomous vacuum cleaner, 1335 Bakewell tarts, 119, 1047–1048 Autoview, 906, 978 Balance, 698 Avalanche arrays, 398 Balancing rejection rates, 540 Avalanche photodiode (APD), 346 Ballast, 299, 300, 302, 303 Average, 376, 381, 382, 421, 427, 443, 464 Ball bearings, 1485 – colour, 1118, 1120, 1121, 1128, 1301 Ball grid arrays, 510 – energy, 617 Banana, 680 – grain kernel, 1281 Banana yellow, 118–119 – grey level, 906, 951, 1174 Band-pass filters, 127, 219, 220, 221, 224, 225, 1601 – intensity, 1590, 1729, 1774, 1781, 1882 Band-stop filter, 220, 225 Averaging filter, 1601 Bar chart, 201, 203 Avoiding JPEG artifacts, 1709 – test patterns, 202 Index 2213

Barcodes, 336, 347, 348, 352–354 Bending, 635 – reader, 347, 352–354 Benzene, 175 – scanners, 336, 348 Bertrand bi-refringent material, 1535 – scanning system, 353 Beryl, 175 Bare aluminium, 205, 249 Bespoke LED illumination, 310 Bare gold, 205, 249 Best fit circles, 782 – coating, 207 Best fit line segments, 781 Bare printed circuit boards, 2079 Best fit mask, 828 – flat-pack furniture, 1436 Between-class scatter matrix, 1092 Bare silver, 205, 249 Biconcave, 189, 192 a-Barium borate, 181, 182 Biconvex, 189, 191, 196, 198 Barrel, 613 Bi-focal lenses, 1397 – distortion, 199, 715, 794, 816, 818 Bifocals, 103 Base station, 1222, 1224, 1225, 1227, 1229, 1230 Bifurcations, 2079 Bass, 110 Bilinear interpolation, 712, 1124 Batch charge, 562–563 Bimodal histogram, 922 Bathroom heat lamp, 2098 Binary correlation, 873 Bats, 109 Binary decision, 50 Batteries, 1334, 1554 Binary dilation, 809–812, 864 – tops, 13, 1787 Binary edges, 594, 819, 822 Bayer, 444, 447, 463, 473 – detection, 836, 863 – colour filter, 1117, 1124, 1125 Binary erosion, 604, 873, 879–882, 899, 923–925 – colour filter array, 1117, 1124, 1125 Binary images, 46, 47, 52, 598, 905, 911, 917, 918, – filter mask, 485 923, 929, 933, 946 – pattern interpolation, 1119, 1120 – measurement, 1591, 1598, 1603, 1605, 1615, Bayesian decision theory, 1083–1085 1646, 1688, 1717 Baye’s theorem, 1084 – processing, 591, 1252 Bayonet, 300, 452, 453, 503, 504 Binary mathematical morphology, 604–608, 676, Bays, 601–603, 768, 1590, 1618–1619, 2072, 804, 813, 844–846, 848, 869, 923, 1118, 1122 2074–2076, 2083, 2085 Binary noise reduction, 676 B-channel, 911 Binary opening, 873 Beam angle, 305, 306 Binary optics, 271, 279 Beam divergence, 515–516 Binary shape analyser, 1274 Beam energy, 512, 513, 539 Binary spatial relationship classifier, 1236 Beam expander, 1476 Binary template matching, 844, 873 Beam expanding prisms, 232–234 Binary texture, 1318, 1319, 1324–1328 Beam power, 513 Binary white, 805 Beam profile, 289–291, 314–316 Binning, 370, 374, 429, 463, 498 Beam shape, 287, 288 Binocular Beam shaping, 279 – depth, 103 Beam split(ter), 78, 161, 228, 229, 243–246, 248–250, – disparity, 103, 112 252–254, 257, 277, 280, 322, 325, 485, 486, 1374, – summation, 96, 112 1376, 1385, 1389, 1401, 1403, 1482, 1484, 1491, Binomial coefficients, 883 1492, 1505, 1512, 1535 Biological cells, 1232 Beam splitting, 279 Biological hazard, 4, 39 Beam spreading, 526, 530 Biological vision, 114 Beam steering, 1520–1523 Biometric data, 17 Beam switching, 515 Bird pecks, 1334 Beam uniformity, 288 Birds, 91, 93, 95, 97, 101, 108–114, 1614, 1638, Beans, 705, 706, 742 1710, 1746, 1863, 1925 Bearings, 1485, 1551, 1553 Bird-swings, 510, 1202, 1204, 1217–1218, Bearing surfaces, 1544 1396, 1454 Beer’s law, 163 Birefringence, 180, 181, 238–240 236, 240, 410 Bees, 90, 110 Birefringent materials, 238, 322, 1535 Beetles’ wings, 162 Bi-refringent polariser, 1535 Belt stretching, 1294 Biscuits, 776, 783, 785, 1270, 1271, 1279, 1379, 1861 2214 Index

Bi-symmetrical filters, 717 Boolean data, 984 Bi-telecentric, 260 Boolean OR operation, 591 Bit reversal, 817 Border of image, 806, 810 Bits per pixel, 544 Bore inspection, 219 Black-and-white cameras, 483 Borer beetle, 1274 Blackbody, 287, 288, 292–294, 312, 313, 436, 439, Borescopes, 269, 271, 1405, 1549 440, 443 Borland C++ Builder, 1144 – locus, 439 Boron, 419 – radiator, 1427 Boron nitride, 180 – radiators, 552 Borosilicate glass, 208 Blacklight, 407 Bottleneck, 1290 Black phantoms, 815 Bottles, 1201–1220, 1334, 1336, 1337, 1373, 1386, 1396, Black pixels, 804, 805, 808–810, 821, 823, 824, 844, 1424, 1453, 1456, 1463, 1494, 1496, 1533, 1546, 860, 863, 864 1696, 1818, 1873 Black velvet, 177, 183, 253 – inspection, 55 Blades, 1405, 1544 – shape, 1205–1213 Blast, 1501 – top, 993, 997 Bleaching, 99, 100 Bottom-hat, 819, 822, 832, 833, 848, 850, 862 Bleeding charge, 40 Boundaries, 1263, 1279 Blemish, 336, 337, 494, 496 – detection, 1232 Blending of colours, 680 – object removal, 996 Blind alleys, 726, 837 – restoration, 1232, 1234, 1239, 1240 Blind area, 111 – restoration algorithm, 1232, 1240 Blind hole, 1457,1491 – tracking, 774 Blind spot, 107 – tracking algorithm, 1302 Blink, 1093 Bounding box, 1591, 1599, 1786, 1795 Blister pack, 510, 520 Bounding circle, 2068 Blob-like figure, 596, 601, 704, 747, 758 Bowl feeder, 1354, 1491–1494, 1501 Blob-like object, 67, 599 Box, 659–661 Blobs, 596, 598–604 – model, 1041, 1042 – analysis, 466, 467, 1598, 1629 Bragg cells, 1450 – area, 1163 Brain, 95, 96, 98, 102–105, 107, 108, 111, 113, 114 – boundary, 1170 Brain organisation, 114 – count(ing), 595, 597, 705, 706, 831, 840, 842, Brake crimp, 1142 1033, 1163, 1327 Brake cylinder, 13, 1457 – fill, 874 Brake hose, 52, 1138, 1139, 1142 – labelling, 676 – connector, 1138, 1139 – shading technique, 597 Brake pad, 2067, 2085 Block colours, 666, 667, 675 Braking radiation, 512 Blocking ambient light, 1476 Brandy balloons, 1224 Blooming, 39, 40, 371, 373, 395, 432, 496–497, 1394 Bread, 510 Blue cones, 130 – rolls, 66 Blue response, 364, 365 Bread board, 1362 Bluetooth, 1549, 1554 Breakages, 774, 780, 781, 798, 1267 Blur(ring), 457, 463, 489, 500, 529, 580–582, 589 Breakfast cereals, 1271 – circle, 194, 196, 200, 201 Breaks in coating, 1535 2D Blurring, 582 Breechlock, 452, 453 BMP, 911, 986 Bremsstrahlung, 512, 513, 515 – GIF, 911 Brewster polariser, 239–240 BNC connectors, 468, 1388 Brewster’s angle, 166–168, 237–240 Body panels, 1534, 1548 Brick buildings, 798 Body station, 1222, 1228–1230 Brickwork, 1461 Bolometer, 404 Bridge Boltzmann’s constant, 294 – design, 1033 Bones, 510 – function, 823 – in chicken, 1559 – operator, 823 Index 2215

Bright CAD ray-tracing, 1359 – chrome, 177 Cakes, 1268, 1861 Brightener, 1426 – decoration patterns, 6, 13, 831–832, 1672, 1709, Brightness, 37, 40, 42, 775, 792 1865, 1870, 1942 Bright spots, 46, 47, 583, 613 – mixture, 72, 1268 Brinell, 1433 – strip, 831 British Machine Vision Association (BMVA), 15 Calcite, 175, 181, 238, 240–243, 1535, 1537 Broaching, 1156 Calcium fluoride, 181, 182, 277 Broach verification, 53 Calibration, 243, 253, 254, 539, 775, 1138, 1139, 1144, Broad-band anti-reflection coatings, 188 1145, 1148, 1170–1173, 1268, 1381, 1481, 1482, Broad-band beamsplitter, 246 1510, 1518, 1524, 2054–2061 Broad-band filters, 219 – of colour vision systems, 1381 Broad band white light, 1169 – errors, 635, 649, 655 Broadcast commands, 1311 – of grey-scale, 953 Broadcast television, 132, 148, 154 – lines, 920–926 Broad dark streaks, 583 – menu, 1145 Broken boundaries, 1232 – pattern, 1518 Broken glass, 54, 55 – robot, 2064 Broken lines, 46, 761 – spatial resolution calculation, 1352, 1369–1372 Broken tips, 1304 – spirit level, 919–928 Brute force, 884, 889, 898, 1264 – target, 252, 1381, 1482 Bubblers, 562 Caliper, 1603 Bubbles, 171, 178, 209, 560, 920–929, 1354, 1427, Cam, 930, 2085 1454, 1489–1490, 1541 Camera, 320–323, 325, 326 – level, 919–920 – aperture, 1159 – sorter, 888, 889 – block diagram, 445, 460, 465 Bubble-sort algorithm, 702, 888 Camera-computer interfaces, 57 Building grey-scale SEs, 848–849 CameraLink, 460–462, 469, 470, 475, 500–503, 1130 Building LED arrays, 308 Cameras, 14, 18, 27, 34–43, 52, 53, 55, 57 Built-in, 1033, 1041–1043, 1045, 1053 – interface standards, 500–503 – models, 105, 106 – lens, 249 – predicates, 1033, 1043, 1053 – mounts, 450, 451 Bulk food, 55 – multiplexer, 1138–1141 Bulk material, 525 – noise, 591, 817, 1258, 1589, 1649, 1667, Bulk product properties, 56 1778, 1880 Buried channel, 361 – protection, 499 Burn-in, 1394 – retina, 370 Butchery, 63, 67, 1548 – sensitivity tests, 493 Buttable arrays, 417 – structure, 465 Butter, 667, 680 2-Camera triangulation, 1523 Butterfly, 524 Camera-widget distance, 1409 Butter yellow, 683 Canary, 119, 680 Butting, 398, 399 Canary yellow, 683 Buttons, 907, 915, 916, 948, 949 Candela (cd), 286 BYT, 986 Cane web, 13 Canny edge detector, 46, 993, 1010, 1011, C 1610, 1613 C, 45, 49, 982, 1112, 1113 Canon EOS, 453 C++, 45, 49, 982, 1033, 1144, 1227 Canon FD, 452, 453 Cable, 468–470, 1365, 1480, 1522, 1549, 1550, Cans, 510, 516, 1334 1554, 1555 Capacitors, 62, 490, 491 – connections, 450 Capital investment, 52 – fasteners, 812 Capsules, 811 CADM. See Compressed ADM (CADM) Car, 65, 80, 1358, 1531–1533, 1535, 1549 Cadmium zinc telluride (CZT), 418 Car-body, 73 CAD model, 8, 538 – panels, 44 2216 Index

Carbonated beverages, 560 Centre position estimation, 642 Carburetor components, 1339 Centroid(s), 602, 603, 613, 738, 739, 744, 746, Carburretor needle, 267 754–755, 763, 824, 825, 910, 925, 929–934, 938, Cardboard model, 1470 939, 952, 962, 999, 1000, 1003, 1012, 1244, 1248, Car oil filter, 274, 1549 1598, 1599, 1615–1617, 1650, 1651, 1653, 1655, Carpet, 54, 120 1669, 1686, 1693, 1707, 1721–1724, 1806, 1831, Carrots, 63, 67, 68, 70, 1463 1854, 1928, 2055, 2060, 2064–2067, 2072–2079, Cartesian coordinate, 1496, 1537 2081, 2082 Cartesian-to-polar co-ordinates, 613, 712, 715, 764 – and furthest edge point, 2072 – conversion, 610, 2079 – of largest bay, 2074 – transformation, 612, 1455, 1527 – of largest lake, 2074 Cartons, 510 – of two bays, 2075 Cascading optical filters, 128 – of two lakes, 2076 Case studies, 20–25, 51–58 Centroidal profile, 774, 793 Cassegrain-Matsutov telescope, 213 Centroidal shape profiles, 755 Castings, 13, 30, 33, 62, 1355, 1359, 1372, 1391, Ceramic packaging (microelectronics), 510 1413, 1434, 1441, 1460, 1491, 1497, 1524 Ceramics, 510, 1391, 1394, 1435, 1534, 1535, 1553 Catadioptric lens, 213 Cereal grains, 775, 1268, 1279–1281, 1284, 1285 Catadioptric system, 1461 Cerebral cortex, 113 Catadioptric telecentric system, 265 Cesium iodide (CsI), 414, 416 Catadioptric telescope, 213 Cesium K transitions, 415 Catalytic converter, 199, 263, 266 CFA. See Colour filter arrays (CFA) Cataracts, 1391 CFL. See Compact fluorescent lamp (CFL) Catch-all rule, 1151 Chaff, 1272–1274, 1285 Catering, 62 Chain codes, 601, 602, 704, 709–712, 724, 729–732, Cathode ray tube (CRT), 39, 41, 142, 154, 320, 734–739, 751, 753, 768, 1081, 2084 508, 512 Chameleon, 33, 90, 111 – camera, 1373, 1375, 1394 Chamfers, 1508, 1511 – display, 440, 497, 558 Changes in refractive index, 1355, 1396, 1551 – phosphors, 441 Channels, 336, 341, 354 – video displays, 154 Characterising LVS, 326–327 Cat-o’-nine-tails, 1362 Character recognition, 466, 1081, 1083 Cauliflower, 63 Charge-coupled device (CCD), 331, 332, 337, 345, 356, Cavities, 220 360, 483, 490–491, 496–498, 626, 630 CC. See Compound classifiers (CC) – architectures, 366, 374 CCD. See Charge-coupled device (CCD) – camera, 1169 CCFL. See Cold cathode fluorescent lamps (CC) – cameras, 558 CCIR, 455, 468, 479, 480, 489 – with gain, 374–376 C code, 872, 875, 876, 878–880, 891, 893 – imager, 337 CCT. See Correlated colour temperature (CCT) – image sensors, 277, 279 CCTV, 479, 481, 482, 494, 500 – for line scanning, 378 cd. See Candela (cd) – pixel boundaries, 365 CDs/DVDs, 1544 – structures, 361, 363, 369, 397 Ceiling function, 568 – transport register, 363, 375, 379, 396 Ceiling paint, 177 Charge generation, 360–362 Cells, 828 Charge injection devices (CID), 394–395 – boundaries, 1232 Charge packets, 361–367, 376, 379, 391, 396, 434 – matrix structure, 839 Charge spreading, 432–433 – phone, 1421, 1554 Charge transport efficiency (CTE), 361, 364, 367, 375, Celluloid, 1546 378, 379, 458 Centerline, 1227 Checking dietary balance, 1060 Central limit theorem, 1306 Checks, 1202, 1218 Centration, 252 Chemical corrosion, 72 Centreline, 1298, 1305 Chemical properties, 177 Centre of gravity, 1118, 1121, 1122, 1128 Chemical residue, 1222, 1229 Centre pixel, 805, 806, 809, 847, 863 Chemicals, 1335 Index 2217

Chemistry, 118 Circle structuring element, 805, 806, 808–810, 833, Chen edge detector, 585 880–882, 890 Cherry, 1047, 1048, 1424 Circuit, 1363, 1506, 1600, 1778, 1810, 1826, 1833, Chess-board mask, 1398 1918, 1939, 1952, 1956 Chessboard pattern, 1605 Circuit noise, 433 Chicken, 510 Circuitry, 1125 Chicken breast, 524 Circular arc, 756, 757 Chicken-breast ‘‘butterflies,’’ 67, 71 Circular component, 1644, 1837 Children, 1815 Circular cross-section, 1295, 1296 Child’s building blocks, 2088 Circular features, 1352, 1373–1375, 1510 Child’s toy, 68, 2064 Circular fluorescent tube, 1491, 1534 China, 171, 172, 1055 Circular illumination source, 1491 Chinese, 74, 134 Circularity, 602 Chirality, 2083, 2085 Circularly polarised, 235, 236 Chocolates, 63, 1268, 1269 Circularly polarized lighting, 53, 1166 – biscuit, 776 Circularly symmetrical, 825, 883, 1453 – drops, 66 Circular markings, 712 Choosing mirror, 204 Circular memory buffers, 1119 Chord bisection, 785, 1280 Circular motion, 1453, 1512 Chord-tangent method, 786, 788–789, 791, 797 Circular objects, 612, 782, 785, 1279, 1533 Chroma, 150–153 Circular polarisation, 1140 Chromatic aberrations, 174, 180, 198–199, Circular polarizer (CP), 77–79, 1168, 1169, 1548 202, 211, 244, 274, 342, 349, 504, 1461, 1496, Circular-scan, 322, 1373, 1375 1497, 1543 Circular wedge, 1652 Chromatic colours, 151 Circumcircle, 602, 603, 754–755 Chromaticity, 672 Circumference, 65 – brightness spaces, 442 City block distance, 932 – coordinates, 141 C language, 1227 – diagram, 73, 74, 438, 439, 441 Classification techniques for texture, 616 – values, 438–400 Classify people as old or young, 1080 Chromatic sensitivity, 114 Class means, 692 Chromic materials, 1553, 1554 Clause, 1037, 1038, 1040–1043, 1049, 1051–1053, Chromium, 519 1059, 1062–1064, 1067, 1069 Chutes, 1291, 1293, 1294, 1300, 1304, 1305, Cleaning, 63, 70, 75 1307–1314 – materials, 458 CID. See Charge injection devices (CID) – methods, 178, 248–250 1931 CIE chromaticity, 145–147 – optical components, 248–250 CIE chromaticity diagram, 73, 74, 146–148 – optics, 249, 254 CIE (1931) chromaticity diagram, 145–147 Clean optical surfaces, 72 CIE 1931 Colour Model, 145–148 Clean SE, 836 CIE L*a*b* (CIELAB), 148 Clear liquid, 1354, 1396, 1398, 1400, 1489–1490, 1551 1931 CIE standard luminosity function, 286 Cliff-like edges, 1430 CIE XYZ colour model, 145 Cliffs, 845 CIF. See Common Interchange Format (CIF) Climatic resistance humidity, 177 Cine´ film, 569, 572 Clipping, 463, 464 Cinema, 118 Cliques, 795, 796 Cinemascope lenses, 1358 – finding algorithms, 797 Circles, 40, 46, 47, 56, 671, 672, 688–690, 777, 788, Clocks, 1581, 1589, 1666, 1695, 1794, 1798, 1828, 789, 791, 796–798, 803, 813, 816, 847 1829, 1878, 1895, 1929 – centre locations, 785 – noise, 433 – of confusion, 194 – rate, 872 – detection, 782–786, 797 – signal, 41 – of equivalent area, 755–756 Closed-circuit television, 479 – of light, 1352, 1372–1374, 1426 Closed-loop calibration, 1304, 1315 – location, 784, 786 Closest distance, 620 Circle-scan camera, 40 Closest point, 602 2218 Index

Close-tolerance, 32, 41, 50, 55, 508, 520 Cold start driver, 303 – glass artifacts, 55 Colinear spots, 761, 765 – products, 62 Collapse image, 1352, 1379–1381 Close-up view, 1353, 1430–1433, 1446, 1476 Collide, 2060 Closing, 873, 1276–1279, 1285 Collimated, 193, 1222, 1389, 1466, 1494, 1495, Closing operation, 544, 554, 562 1513, 1537 Clothing, 54, 57, 62 Collimated back light, 266 Cloudy day light source, 326, 1491, 1492 Collimated beam, 189, 193, 197, 217, 232 3D Clustering, 988 Collimated light, 228, 243, 264, 268, 1227, 1441, 1467, Cluster of small spots, 596 1480, 1551 Clutter, 784, 792, 793, 796–799 Collimated ‘ribbon’ of light, 1494 CMOS. See Complementary metal oxide Collimating lens, 1159 semiconductor (CMOS) Collimator, 36, 516, 537, 1363, 1364, 1382, 1430, C-mount, 271, 431, 452, 503, 1138, 1255, 1406, 1546 1474, 1476, 1493, 1537 – fitting, 270 Colorimeters, 443 – lens, 52, 1223 Colour, 775, 1263 CMY, 143, 154, 442, 444 – aberration, 446 – primaries, 143 – analysis, 467, 1427, 1485 CMYK, 142–143, 153, 154, 442, 572 – art and fashion, 118 CMYKOG, 143, 154 – artefact generation, 444 CNC, 1359 – atlases, 140 Coarse, 616 – axis conversion, 713 Coarse colour discrimination, 44, 119–121 – bar, 1606, 1675, 1737 Coated glass rod, 1442, 1446 – blind, 131 Coated optics, 183, 184 – cameras, 484–485, 503, 1485, 1529 Coated sensors, 417–418 – codes, 120 Coatings, 28, 38, 39, 63, 776, 1298, 1359, 1447, 1454, – constancy, 124, 133, 295 1471–1473, 1501, 1535, 1540, 1553 – contours, 1467, 1470 – for mirrors, 204–207 – correction, 1080 Coaxial diffuse illumination, 1352, 1376, 1378, – cube, 671, 676, 677 1401–1402 – deficient, 131 Coaxial illumination and viewing, 68, 77, 78, 310, – detection, 443–447 326, 1374, 1389, 1401–1402 – differentiation, 439 Cobalt, 519 – discrimination, 94, 95, 102, 669, 678, 693 Codec chips, 1129 – edges, 445 Coded light approach, 1435 – fidelity, 73 Coding disc, 963 – filtering, 920, 1352, 1381–1383, 1385 Coefficient of thermal expansion, 174, 178, 179, 181, – filters, 4, 40, 1607, 1698, 1790, 1813, 1903 183, 208, 209 – gamut, 142, 143, 153, 154, 441, 442, 447 Coffee beans, 705, 706, 1604, 1624, 1679, 1705, 1706, – generalisation, 678–679, 681 1742, 1802, 1881, 1923, 2088, 2089 – gradients, 72 Cog, 962–963 – image file format, 986 Coherence, 287, 288 – images, 569, 572, 874 Coherent fibre optic bundle, 1379, 1406, 1502 – imaging, 406, 435–448, 1168 Coherent scattering, 415 – interpolation, 679–680 Coils, 52–53, 62, 63, 1373, 1441, 1501, 1554, 1557 – matching, 133, 139, 148, 153, 435–438, 441, 484 – with flying leads, 1919 – in materials, 118 – with two flying leads, 1720, 1721 – mixing, 131 Coin-in-a-slot procedures, 752–754 – model, 118, 135, 140–143, 145–148, 151, 154 Coins, 688, 1378, 1390, 1402, 1432, 1449, 1509, 1671, – not recognised, 677 1739, 1800, 1817, 1827, 1838, 1852, 1873, 2085 – order systems, 140

CO2 laser, 405 – pigments, 90, 110 Cold cathode fluorescent lamps (CCFL), 37, 284, – receptor cells, 130 296, 302, 1513 – recogniser, 76 Cold fluorescent tubes, 321 – recognition, 33, 44–45, 50, 56, 73, 75, 666–694, Cold mirrors, 222, 1383 838–840, 858, 2088, 2090–2092 Index 2219

– recognition system, 137, 138, 149 Command window, 910, 912, 945 – scattergram, 674, 675, 677–679, 682, 684, ‘‘,’’ (Comma), 1036 838, 840 Comment lines, 915, 917 – science, 118, 138, 139, 145, 148, 151, 153 Commercial and managerial integrity, 1333, 1340–1342 – sensations, 121, 131 Commercial luminaires, 276 – sensors, 75 Commission Internationale de l’Eclairage, 1487 – separation, 397, 410, 443–447, 471, 666 Committee, 50 – set intersection, 686 Common interchange format (CIF), 455, 456 – similarity, 682, 684 Common sense, 840 – standards, 440, 442, 446 Communication between processors, 1106 – subtraction, 141, 143 Communications bottle-neck, 941 – swatches, 152–154 Communications/networking, 18 – switching, 1506 Communications port, 460 – television, 131 Commutative, 868 – temperature, 313 Compact cluster, 757 – theory, 666 Compact fluorescent lamp (CFL), 31, 287, 289, 290, – triangle, 143–145, 671–686 295, 297, 300–301, 321, 1140 – variations, 72–76 Compactness hypothesis, 690 – video cameras, 118 Compass, 601 – wheel, 141 Compatibility lines, 794–796 Coloured blocks, 1813 Complementary metal oxide semiconductor (CMOS), Coloured dyes, 401 331, 346, 360, 362, 363, 372, 375, 382–384, Coloured-glass, 35, 219, 1383, 1385, 1467 392–386, 388–392, 394–395, 402, 409, 417, Coloured-glass filters, 226 432–434, 449, 460–462, 472, 490, 491, 498 Coloured regions, 768 – colour sensor, 1117 Colour filter arrays (CFA), 375, 376, 397, 401, 444, – imaging sensor, 1130 445, 447, 456, 463 – operation, 385 3-Colour LED, 1528 – structures, 382–388, 397 Colour rendering index (CRI), 287, 313–314, 447 Complete inspection, 1305 Colour science, 34 Completely connected subgraphs, 795 Colour-selection filters, 1477 Complex assemblies, 15, 63 Colour-selective filtering, 279 Complexity, 702, 703, 723, 761 Colour-separation channels, 1484 Complex objects, 1359, 1383, 1415, 1478, 1514, Colour space, 437, 438, 440–443, 446, 463, 471, 874 1550, 2078 – conversion, 440, 471, 988 – automobile brake assembly, 2077 – transformation, 463 Complex parts, 1491 Colour vision, 33–34, 90, 96, 102, 104, 109, 110, 114 Complex SEs, 879, 880 Column averaging, 1305 Complex visual scene, 4, 49 Column machine, 721, 722, 875, 876, 880–882, 884, Complicated shapes, 1491 887, 889–893, 897–898 Component, 1351, 1355, 1357, 1381, 1385, 1386, 1391, Column noise, 433 1405, 1413, 1417, 1427, 1429, 1436, 1439, 1450, Column readout, 375 1453, 1457, 1481, 1483, 1491, 1508, 1513, 1527, Coma, 197–198 1535, 1537, 1546–1548 Comatic circle, 197 Component colour codes, 148 Combined row machine, 881, 891–893, 897 Component development wizard, 989, 991 Combining commands, 951–952 Component-lead connecting pads, 526 Combining overhead and side views, 52 Components of interest, 1000 Comet-tail effect, 1394 Composite cross-section contour, 1481 Command-line, 48, 49, 905, 915, 916, 945, 948, 949, Composites, 803 1142, 1143 – scattergram, 680 Command panel, 1228 – structuring elements, 47 Command/response protocol, 1311 Composition, 1339 Command sequence(s), 909, 911–912, 916–918, 922, Compound classifiers (CC), 668, 669, 671, 686–690 923, 925, 926, 928, 930, 945, 949, 951, 953, 959, Compound eyes, 33, 91 961, 963 Compound goal, 1044, 1046, 1065 Command syntax, 909–910 Compound lens, 193–195 2220 Index

Compressed ADM (CADM), 643, 644, 646 8-Connected curve, 819 Compressed air, 942 4-Connected Euler number, 596 Compression, 393, 465, 986 8-Connected Euler number, 596 Compton scattering, 415 Connectedness, 806, 807 Computational load, 924 Connection, 1236–1239 Computational platforms, 872, 873 Connection status, 984 Computational speed, 1271 Connectivity, 780, 781, 1232, 1234, 1236, 1237 Computational tools, 1329 – detector, 594, 595 Computer-controlled lighting, 1481 – Paradox, 806, 807 Computer display screens, 1220 – of projection, 780 Computer graphics, 172 8-Connectivity, 806, 864 Computer language syntax, 1062 Con-rods, 1459, 1463, 1595, 1599, 1619, Computer networking, 6 1653, 1655, 1711, 1776, 1786, 1796, 1807, Computer science, 509 1831, 1910, 1932 Computer vision (CV), 5, 10, 18–20, 1262–1264 CONSIGHT, 1459 Concave cylindrical mirrors, 216 Constant magnification, 1156 Concave ellipsoid, 1358 Constant perspective, 262–263, 266, 1156 Concave elliptical mirror, 217 Contrast improvement, 1580, 1587, 1716, 1802, 1856, Concave mirrors, 202, 289, 1531 1922, 1923 Concave toroidal lens, 1358 Constructive interference, 169, 220 Concavities, 2083, 2085 Constructive surface geometry, 635 – indentations, 1618 Contact opto-electronic sensing, 70 – tree, 758, 1618 Containers, 120 Concentric arcs, 612 Contaminants, 1141, 1142, 1222, 1264, 1271, Concentric circles, 40, 1453, 1455, 1458, 1537 1275–1279, 1284, 1285 Concentricity, 1047 – rodent droppings, 1277 Concentric rings, 1269 Contamination, 171, 184, 204, 248, 1222, 1229 Concentric squares, 1462 Content of mixture, 63 Concurrency, 1112, 1115 Contiguously, 805 Concurrent processor, 1487 Continuous-beam laser, 627 Condensation, 1501 Continuous-flow products, 15 Condenser lenses, 289 Continuously moving conveyor, 487, 1487, 1489 Condenser system, 217 Continuously moving web, 1352, 1389–1391, 1393, Conditional probability densities, 1084 1436, 1441, 1524 Conditions of use, 704 Continuous spectral function, 135 Conduit, 1411, 1413, 1478, 1493 Continuous wave (CW), 627, 632 Cones, 130, 131, 135, 136, 145, 640 – radar, 626, 627, 632 – ganglion cell, 98 Continuous webs, 41 – photoreceptors, 97 Continuum spectrum, 512, 513 – pigments (dichromats), 109, 110 Contour information, 634 – response, 101 Contour tracker, 637 – of visibility, 36 Contra-rotating belts, 1204 – vision, 102 Contra-rotating wedges, 347 Confectionary, 55, 62, 63, 66, 67, 1357, 1463 Contrast, 336, 341–343, 544, 553, 558, 560, 562, 586, Congruent, 783 591, 601, 618, 619 Conical beam, 508, 515, 517 – adjustment, 1611 Conical lens, 1358, 1389, 1495 – enhancement, 14, 42, 742–744, 825, 855, 857, Conical mirrors, 215, 217–218, 1352, 1372–1374, 927, 968, 1303, 1587, 1613, 1683, 1720, 1727, 1386–1389, 1410, 1508, 1509, 1537, 1540 1733, 1735, 1852, 1922, 1923 Conjugate pairs, 202 – ratios, 201, 525 4-Connected, 573 – sensitivity, 94, 100, 112 8-Connected, 573, 594, 1595, 1605, 1688, 1754, – sensitivity function, 100, 101 1914, 1935, 1954 Contrast transfer function (CTF), 420–423 Connected components, 595 Control – analysis, 874, 1119, 1120, 1122, 1127–1129 – of camera, 462 – labelling, 1118, 1119, 1121, 1122 – dynamic processes, 97 Index 2221

– external devices, 905, 938–945, 1654 Corners, 587, 600, 734, 736, 760, 768, 776, 777, 793, – functions, 389–394 798, 813, 814, 836, 838, 845, 862, 1263, 1265, 1268, – light level, 544 1627, 1630, 1633, 1644, 1732, 1854, 1895, 1913, – set of lamps, 1065–1067 1938, 2067, 2068, 2079 Controlled LCD projector, 1434 – detection, 600 Controlling production, 15 Corning, Inc, 208 Convection patterns, 1551 Corona discharge, 412 Conventional weighing, 1314 Correct decision, 50 Convergence, 91, 103, 112 Correcting for aberration, 279 Converging illumination, 1222 Correlated colour temperature (CCT), 313 Converging lens, 189, 191–195, 1476 Correlated double sampling (CDS), 362 Conversion factor, 365, 395 Correlation, 1248, 2081–2084 Converting image format, 708–713 – on polar-coordinate plot, 2082 Convex, 1234 – in three dimensions, 2082–2083 – areas, 1598, 1599 Correlative coefficient, 636 – cone, 1359 Corrosive, 1501 – corners, 737, 738 Cos4 law, 496, 544 – cylindrical mirror, 214 Cosmetic surface quality, 204, 209 – deficiency, 601, 679 COSMOS. See Curvedness-orientation-shape map on – hull, 601, 602, 680, 704, 728–732, 753, 758, 759, sphere (COSMOS) 761, 768, 769, 1000, 1012, 1599, 1618, 1620, Cost, 5, 16–18, 30, 34, 35, 43, 51, 52, 57, 1333, 1647, 1699, 1928 1335, 1342 – mirror, 210, 211 Cost-effectiveness, 114, 1262 – objects, 1279 Cotton wound on bobbin, 591 – polyhedra, 635 Count(ing), 4, 13, 15, 1333, 1600, 1605, 1615, 1621, – shape, 805 1630, 1646, 1854, 1883 – sphere, 1358 – black pixels, 1212 Convex-concave, 189, 191 – blobs, 1605, 1688 Conveyor, 67, 68, 702, 789, 1105, 1169, 1204, 1233, – cherries, 63 1291–1293, 1297–1300, 1310, 1312–1314, 1354, – objects, 857 1429, 1487–1489, 1518, 1519, 1522 – teeth on gear, 833 – belt, 5, 7, 14, 24, 26, 38, 41, 55, 216, 379, – white neighbours, 594, 595, 863 539, 540, 765, 1430, 1459, 1487, 1489, 1493, Covariance matrix, 1085, 1086, 1091 2064, 2065 C programming language, 1142 Convolution, 649, 656, 823, 824, 859, 860, 862, 1220 Crack detection, 927, 961, 1391–1394, 1503, 1533 – high-pass filter, 862 Crack detector, 583, 586, 610, 850, 852, 862 – masks, 1265 – function, 586 – operator, 714, 716, 722, 768 Cracked spears, 1304 Convolve, 792 Cracking, 1553 Co-occurrence matrix, 618–619 Cracks, 13, 30, 31, 197, 713, 726, 733, 736, 826, 850, Cookies, 1379, 1380 1202, 1204, 1218–1220, 1222, 1336, 1352, 1391, Cooking time, 1290 1394, 1396, 1403, 1427, 1430, 1448, 1450, 1454, Cool white fluorescent, 312, 314 1456, 1457, 1481, 1503, 1533, 1537, 1551, 1553 Coordinate-axis transformation, 712, 764 – pattern, 1236, 1240, 1241 Coordinate data, 984 – voids air bubbles, 1427 Coordinate systems, 2054, 2059 Crazing, 1553 Copper, 413, 415, 467, 512, 515, 519, 537 Cream biscuits, 1270–1271, 1284 – conductors, 839 Cream cakes, 63 – wire, 523 Creased fabric, 57, 587, 963, 1578, 1649, 1667, 1683, 1775, Corel, 141 1792, 2088, 2089 Core library, 982 Creasing, 1318–1329 Core MATLAB, 945 Crest, 833–835 Cork floor tiles, 63, 1319 CRI. See Colour rendering index (CRI) Corks, 1357, 1358, 1530 Crimped connector, 1138, 1142 Cormorant, 110 Critical angle, 167, 168, 228 Cornea, 91, 102, 110, 111 Critical defects, 55, 1217 2222 Index

Critical for connectivity, 594, 595 Cusps, 635 Crizzles, 1202, 1218, 1220, 1454 Customer attitudes, 55 Croissants, 66, 2085 Custom vision modules, 984 Cropping, 1633, 1641, 1883, 1938 Cut cane ends, 850 – area of interest, 1080 Cut flowers, 69 Cross-correlation, 2082 Cutlery, 50, 1050–1053, 1055 Crossed Fresnel cylindrical lenses, 272 Cut-off switches, 42 Crossed linear polarisers, 77, 79, 235, 1168, 1352, Cutter guided by a vision system, 1334 1394–1396, 1547 Cutting, 1365, 1433, 1498, 1501, 1513 Crosses, 47, 803, 834, 836, 837, 839 – edge, 1544 Crosshead(s), 1165–1174 – of leather, 1334 Cross-lines, 1462 – tools (drill milling tool), 1433, 1544 – reticule, 1255 CVI Melles Griot, 206, 209, 254, 258 Cross-overs, 1153 CV specialist, 19 Cross-polarizer, 1172 CW. See Continuous wave (CW) Cross-sectional area, 1295, 1296 Cyan, 141–143, 153, 672 Cross-section converter, 1411–1413, 1415, 1443 Cybernetics, 1332 Cross-shaped structuring element, 605 Cyclone, 1107, 1109 Crosstalk, 358, 393, 432 Cyclotron, 515 Crown bottle, 993 Cylinder, 651, 652 Crown glass, 165, 174, 175, 178, 186, 208, 244 Cylindrical bore, 1372, 1457 CRT. See Cathode ray tube (CRT) Cylindrical coils, 1148 Crude measure of orientation, 765 Cylindrical coordinates, 1537 Cryogenic cooling, 406 Cylindrical Fresnel lens, 1446 Crystal grain, 1232 Cylindrical lens, 71, 345, 348, 767, 768, 1204, 1214, Crystals, 1541, 1553 1215, 1358, 1380, 1381, 1443, 1446, 1448, 1462, CS-mount, 1545 1464, 1465, 1480, 1487, 1493 CTE. See Charge transport efficiency (CTE) – holder, 251 CTF. See Contrast transfer function (CTF) Cylindrical mirrors, 214–216, 218 Cube beam-splitter, 243, 249, 1535 Cylindrical objects, 270, 1339, 1352, 1357–1358, Cube-type polarisers, 240 1454, 1496 Culture, 118, 133–134, 137 Cylindrical refracting surfaces, 272 Cumulative histogram, 589, 590, 741–742 Cylindrical spindle, 23 Cups, 1291–1294, 1297–1303, 1305, 1310–1314 Cylindrical-telecentric lenses, 1530 Currency note, 1588 Czerny-Turner monochromator, 122 Current image, 906–910, 912–914, 919, 928, 932, 935, 945, 946, 950, 951, 953, 955, 956, 961, 962, 964–968, D 970, 973–977, 1043, 1045, 1061, 1577, 1580, 1582, 2.5-D, 626 1587, 1595, 1606, 1607, 1622, 1630, 1632, 1643, 3D, 626, 628, 633–647, 650–654, 658–660, 775, 1645, 1647, 1674, 1675, 1687, 1689, 1693, 1716, 784, 788, 798 1726, 1727, 1737, 1741–1743, 1745, 1757, 1758, D65, 440, 443 1765, 1785, 1790, 1802, 1813, 1824, 1825, 1827, Damage, 4, 19, 39, 56, 57 1828, 1832, 1833, 1839, 1840, 1843, 1844, 1848, Damaged grains, 1271 1862, 1876, 1879, 1892, 1906, 1909, 1918, Danger, 508, 509, 516, 539 1922–1924, 1940, 1944, 1949, 1953, 1955 Dark adaptation, 100, 108 Cursor, 1629, 1633, 1646, 1670, 1674, 1675, 1765, 1811, Dark canyons, 1168 1820, 1833, 1914, 1940, 1944 Dark current, 361, 364, 376, 377, 382, 392, 402, 426, Curvature, 584, 1237, 1305 429, 433, 494–496, 499 Curvature edges, 635, 646–648 Darkening, 552 Curvedness-orientation-shape map on sphere Dark-field illumination, 38, 326, 1202, 1203, 1206, (COSMOS), 636 1213, 1218, 1245, 1352, 1356, 1357, 1396–1397, Curved shape characteristics, 1032, 1033, 1058, 1059 1399, 1439, 1457, 1490, 1509, 1535, 1513, 1541 Curved shiny surfaces, 1359 Dark spots, 47, 583 Curve-fitting, 1283, 1284 Dark streaks, 583, 586 Curves left, 1237, 1238 Database module, 53, 1166 Curves right, 1238 Data block class, 991 Index 2223

Data compression, 1232 Density function, 1085 Data conversion, 388, 391–392 Density of cones, 99, 107 Data-dependent monadic pixel-by-pixel operator, 590 Density of rods, 99, 107 Data flow, 983, 984 Dents, 1167 Data formatter, 461, 465 Depletion region, 361, 362 Data rate, 18, 39 Depressions, 1430, 1508 Data scaling, 988 Depth, 570 Data transmission, 393–394, 461, 469 Depth maps, 43, 44, 1415, 1422, 1435, 1436, 1448, Data types, 984, 986, 1027 1464, 1520, 1524, 1527 Dating agency, 1034 Depth-of-field (DoF), 194–196, 262, 264, 268 Datum point, 2069, 2070 Depth-of-focus, 28, 194–196, 1298, 1299 Daylight, 124–126, 133, 153, 322 Depth of thread, 833, 835 – fluorescent, 287, 298, 312, 314 Depth perception, 96, 112 DCAM, 501 Descriptive groupings, 1263 DCGs. See Definite clause grammars (DCGs) Design and testing of inspection algorithms, 55 DC motors, 938, 945, 1072 Designing computer systems, 1033 DC offsets, 1256, 1311 Design laboratory, 55 DC power supply, 1299 Design of template masks, 1266–1267 Dead area, 1372 Design tools, 27–31 Dead end, 1235, 1236, 1240 Desk-lamp, 36 Dead reckoning, 923 Desktop computers, 873, 878 Dead time, 341, 342 De-speckling, 1354, 1493–1495 Debugging, 1104, 1115, 1130–1132, 1134, 1166, Detect circles, 767 1310, 1311, 1313–1314 Detection, 776, 782, 786, 792, 797, 798 Debug log panel, 1228, 1229 – of aircraft, 792 Decision surface, 669, 671, 688, 691, 692 – of flaws, 97 Declarative language, 1032, 1035 – of forgery, 1080 Declarative programming, 56, 1034, 1062 – linear structures, 46 Declarative statements, 686 – lines, 613 Decomposable filters, 718 – module, 1275 Decomposing light, 138–139 – noise, 635 Decomposition, 606–608, 716–720 – removing small spots, 597 Deconvolution, 529 – specific features, 830 Decorating cakes, 63, 763 – white rectangles, 838 Decoration pattern, 831–832 Detective quantum efficiency (DQE), 332, 435 Decorative domestic plants, 67 Detectors, 331–335, 337, 338, 340, 342–346, 352 Decorative marble, 57 – gamut, 442–443 Dedicated flow control components, 983 – noise, 649, 655 Dedicated hardware, 45, 56 – thresholding, 768 Deductive recognition, 775 Detect pattern, 863, 865 Defect detection, 266 Developer’s interface, 982, 988, 990, 1028 Defective products, 1337 Developer’s level, 988 Defence, 403, 406, 459 Developer spray, 1503, 1505 Definite clause grammars (DCGs), 1062, 1070, Developing algorithm, 957, 961 1071, 1073 Deviations from the mean, 1240 Degradations, 196 Diagonal fill, 864 – of emitted power, 37 Diagonally-adjacent pixels, 601 Degree of uncertainty, 53 Diameter, 24, 52, 56, 65, 68, 1268, 1269, 1292, 1293, Degrees of freedom, 717, 775, 1148, 1152, 1415, 1295–1297, 1304–1306, 1601, 1603, 1702, 1705, 1417, 2058 1793, 1940 Delta coding, 393 – bisection method, 786–788, 797 Demodulation processor, 627 Diamonds, 175, 177, 180, 787, 803, 1433, 1541 De Morgan’s rule, 810 Diamond-shaped structuring element, 889 Demosaic(ing), 463 Dichroic coatings, 486 Density, 162–164, 174, 226–228, 249, 252, 1290, Dichroic filter-mirrors, 1484 1292, 1294–1295, 1304, 1306 Dichroic filters, 222, 289, 1383, 1385 2224 Index

Dichroic mirrors, 123, 222 Digital systems architecture, 6 Dichroic multilayer filters, 446 Digit classifier, 1087 Dichroic prism, 229, 255 Digitizer, 52 Dichroic reflector, 222 Dilate, 1613, 1672, 1678, 1766, 1944–1946 Dichroism, 238 Dilating, 593 Die-cast component, 817, 851 Dilation, 47, 554, 604–607, 609, 610, 669, 679, 680, Die castings, 1426, 1476, 1497, 1524 720, 721, 733, 803, 804, 806, 807, 809–816, 818, Dielectric boundary, 165–168 819, 821, 826, 828, 830, 832, 833, 835–840, Dielectric coating, 185, 204, 205, 245, 250 844–852, 856, 859–865, 867, 868, 873, 879, Dielectric-glass interface, 1253 889–891, 1208, 1252, 1256 Dielectric surfaces, 162, 172, 1535 2-Dimensional array, 572 Dielectric thickness, 1253–1255, 1257–1258 Dimensional changes, 1244 – calculation, 1258–1259 Dimensional detectors, 331, 338 – measurements, 1254, 1257–1258 1-Dimensional filters, 716, 717 Diesel engine component, 1166 2-Dimensional Fourier transform, 202 Difference-of-Gaussian (DoG) filters, 874, 885 2-Dimensional intensity function, 567 Differences 2-Dimensional MATLAB arrays, 910 – in frequency, 617 Dimensional measurement, 466, 626, 856, 1363, – image, 553, 556 1365, 1493 – of low-pass filters, 1320 1-Dimensional optical systems, 41 – from reference shape, 1230 3-Dimensional shape, 1462, 1464, 1497, 1524 Differential amplifiers, 387, 392 Dimensional stability measurements, 1245 Difficult calculations, 697, 708, 769 3-Dimensional structure, 71 Diffraction, 36, 1355, 1439, 1454, 1456, 1480, Dimensions, 510 1482, 1485 Dimples, 1376, 1479 – filters, 322 DIN 6164, 150 – grating, 138, 1427, 1466, 1467, 1470 DinoEye USB camera, 1704 – limited resolution, 200 Diode lasers, 321, 1407, 1448, 1459, 1463, 1485, Diffractive lens, 1448 1494, 1548 Diffractive optics, 279, 291, 1373, 1439, 1458, 1459 Diodes, 62 Diffuse coaxial illumination, 1352, 1376, 1378, Dioptre, 1543, 1544 1401–1402 Dioptric optical systems, 213 Diffuse front illumination, 1352, 1389, 1393, 1403 2-Directional blurring, 582 Diffuse illumination, 1404, 1434, 1448 Directional filters/edge detectors, 617 Diffuse illuminator, 310 Directionality and period of repeated texture patterns, 617 Diffuse light-source, 1167, 1223, 1224 Directional structuring elements, 1327 Diffuser, 1224 Direction codes, 587 Diffuse reflections, 164 Direction of brightest neighbour, 587, 1322 Diffusers, 161, 173, 210, 256, 322, 325, 1426, 1439, Direction of propagation, 162, 166 1441, 1443, 1447, 1448, 1479, 1491, 1494 Dirichlet conditions, 704 Diffusing filter, 1512, 1689 Dirt, 817, 830, 837 Dig, 1167 Dirty optical surfaces, 494 Digital image, 567, 568, 604, 612 Disc, 806, 831–833, 850, 861 Digital image format, 35 Discharge lamps, 287, 289, 291, 296, 297, 311, 312, 314 Digital image processing (DIP), 14, 35, 42 Discharge tube, 1439, 1522 Digital information processing, 6 Discolorations, 1272 Digital interfaces, 468 Disconnected, asymmetric, concave SE, 805 Digital I/O cards, 1310 Discontinuities, 831 Digital micrometer, 24 Discrete Fourier transform (DFT), 615 Digital micromirror device (DMD), 686, 1469, Discrete objects, 1487 1471, 1472 Discrete parts, 1522 – chip, 1469, 1471 Discrete piece parts, 54 – colour, 441 Discriminant analysis, 1274 Digital networks, 15 Discriminant function, 1085, 1086, 1096 Digital pre-processing, 18 Diseased tissue, 75 Digital signal processing (DSP), 1108, 1294 Dispersion, 174, 188, 243, 617 Index 2225

Dispersive prisms, 228, 229 DQE. See Detective quantum efficiency (DQE) Dispersive surface, 1407 DR. See Dynamic range (DR) Display, 118, 131, 132, 134, 137, 142, 147–150, 154 3D radiation pattern, 37, 284 Display standard images, 953 Drag and drop, 982 Dissimilarity, 749 Drains, 1372, 1373, 1377, 1410, 1413 Distances, 103, 107, 110–112, 775, 781, 782, 786, 3D range information, 43 788, 789, 791, 794–796 3D reconstruction, 988 – from the camera, 1156 Dress fabric, 13, 120 – metric, 745, 746, 748 Driver circuits, 299–300, 309–312 – of surface geometry, 626 Driver pose, 1093–1096 Distance transform, 824 Drop-and-drag, 248, 250 Distortions, 194, 199, 209, 212, 214, 247, 774, 775, Droplet/particle density, 1454 780, 793, 794, 798 Droplet/particle size, 1454, 1456 – correction, 1120, 1122, 1127 Dropouts, 886 Distributive dilation, 868 Droppings, 1275–1277, 1284, 1285 Diurnal animals, 96, 109 Drum scanners, 337, 340, 343, 344, 350 Diverging beam, 508, 529, 530, 536 Drying, 72, 77 Diverging lens, 189, 192, 193, 195 3-D scanner, 67 Diving birds, 110 3D shape, 39, 1352, 1355–1356, 1458, 1462, 1464, Divot, 1167 1467, 1471, 1480, 1485, 1511 DLL, 1309 3D shape measurement, 850 DMD. See Digital micromirror device (DMD) DSP blocks, 1108, 1110 3D modelling, 1294 3D structure, 1520 3D morphological operators, 988 3-D surface descriptor, 634, 636, 639 3D objects, 1365, 1366 3-D surface representation, 639–641 – pose estimation, 634, 637–646 DT. See Double telecentric (DT) – recognition, 634–637 3D-to-2D conversion, 988 2D object shapes, 774 Dual axis X-ray, 518, 531–537 Docker holes, 1270 Dual-index tables, 882 Documentation, 905, 916, 917, 949, 953, 964 Duality, 810–811, 847, 868 Document processing, 17, 335–336 Duality relationship, 605–606, 868 DoG filters. See Difference-of-Gaussian (DoG) filters Dual line, 778 Dog-on-a-Leash Algorithm, 736–737 Dual morphological operation, 605, 606 DOLP, 1220 Dual of erosion, 811, 816 Domestic goods, 21 Dual orthogonal-beam X-ray, 1352, 1403, 1406 Domestic power plug, 853 Dual-port memory, 1109, 1119, 1125, 1126, 1131 Domestic products, 54 Dual-wavelength height measurement, 1352, 1403–1405 Domestic quality mirrors, 204 Dual-wavelength X-ray systems, 517 Domestic white goods, 1532 Ducting of light, 1203 Dominant wavelength, 123 Dust, 494, 1285 Don’t care pixels, 844, 845, 879, 891 Dust fumes smoke, 1353, 1335, 1454 Doping, 359, 410 Dust trap, 1504 2D optical flow, 988 DVDs, 121, 1534, 1544 Dorsal stream, 113 3D viewer, 987 Do specified command, 917 3D vision, 111 Dot-matrix codes, 1430 3D volume, 988, 1001, 1022 Double correlated sampling, 496 3D windowing, 988 Double data rate (DDR) memories, 1110 Dyadic operators, 567, 576–568, 908, 950, 1061 Double precision floating point, 984 Dye penetrant crack, 30, 852, 1503 Double telecentric (DT), 260, 262, 267, 268 Dye transparency, 401 Double wedge, 1358 Dynamic algorithm updates, 982, 1028 Doughnut, 65 Dynamic calibration, 1304, 1309, 1315 Dove prism, 231–232, 234, 255, 1354, 1375, 1496, Dynamic gamma adjustment, 953, 967 1497, 1509–1511 Dynamic hyperspectral imaging, 448 dpi resolution, 1234 Dynamic range (DR), 1301 3-D pose tracker, 637 Dynamic thresholding, 20, 953 2226 Index

E Electrical noise, 37, 40, 303, 494, 495, 817 Eccentricity, 744, 786, 788, 1296, 1598, 1599, 1848 Electrical power plug, 523 Eddy current, 292 Electrical power socket, 836, 837 Edge code directions, 710 Electrical switch contacts, 1339, 1544 Edge coding, 709, 738–739 Electric arc, 322 Edge contours, 53, 819, 835, 1609, 1692, 1695, 1699, Electrodeless induction lamp (EIL), 301–302 1854, 1895 Electrode locations measurement, 1244 Edge density, 617, 620 Electrode patterns, 1244–1248 Edge detection, 43, 44, 46, 47, 583, 594, 617, 634, Electro-magnetic (EM) radiation, 120, 160 635, 638, 639, 646–651, 716, 717, 729, 761, 768, Electro-magnetic (EM) spectrum, 118, 119 1240, 1263, 1265, 1266, 1274, 1275, 1507, 1521, Electromechanical devices, 2054 1588, 1608, 1613, 1804, 1851, 1856 Electron beam, 18, 27 – in image space, 781, 782 Electronic circuit boards, 65 – operators, 703 Electronic components, 120, 121 – in range images, 635, 648–650 Electronic/electrical assemblies, 510 Edge distance profile, 2081 Electronic engineering, 982 Edge effects, 588–589, 810, 813–816, 830, 855, 862, Electronic exposure control, 371, 373, 386, 391 876–879, 882, 888, 1630, 1679, 1774, 1851 Electronics, 120, 646 Edge enhancement, 393, 463, 1117, 1119, 1120, 1124 Electronics component, 674 – area averaging, 874 Electronic shutters, 20, 369, 372, 387, 489, 494, 497, Edge-finding, 465 1299, 1301, 1352, 1411, 1412, 1487 Edge-follower, 1627, 1913 Electronic speckle pattern interferometry (ESPI), Edge gradient, 583–585 1532, 1533 Edge information, 635, 651 Electro-pneumatic diverter, 1169 Edge integrity, 1365 Elemental shapes, 803 Edge labelling, 709 Elementary image processing functions, 572–591 Edge location, 1158 N-Element averaging, 739 Edge orientation, 797 Eliminating noise, 812 Edge point, 775, 776, 778–780, 782, 785–789 Eliminating shadows, 1491 Edges, 635, 638, 640, 646–651, 1263, 1265, Eliminating small objects, 864 1267, 1275 Eliminating thin black streaks, 812 Edge-sampling algorithms, 2070 Ellipses, 46, 56, 757, 831, 1224, 1267, 1280, 1296, 1305 Edge smoothing, 597, 598, 600–601, 712, 730, – boundary, 786 732–739 – centres, 786, 787 Edge tracing, 710, 724, 725, 738, 751, 752 – detection, 786–791, 796–798 Editing M-files, 915, 916, 948, 949 – diameters, 786 Educational and training, 2088 Ellipsoidal ‘‘hole,’’ 920 Effect of taps, 429–430 Elliptical concave mirror, 289 Efficacy, 291, 301 Elliptical cross-section, 1296 Efficiency, 37 Elliptical mirrors, 217, 1487, 1488 Eggs, 510, 2085 Elliptical polarisation, 235 EIA-170, 468 Ellipticity, 1305 EIA-343A, 468 Elongated shape characteristics, 1032 EIA 1956 resolution chart, 423, 425 Embedded defects, 561 Eigenfaces, 1091–1095 Embedded image processing commands, 1032 Eigenspace, 637, 643 Embedded particles, 560 – coordinates, 1092 Embossing, 1214, 1215, 1217–1218, 1220, 1376, 1389, Eigenvalues, 643, 1091, 1092 1393, 1396, 1401, 1403, 1430, 1446, 1454, 1456, Eigenvectors, 1091, 1092 1457, 1508, 1534 Eight-chord algorithm, 789, 790 Emerald, 162, 175 Eight-connected blobs, 706, 727 Emerald green, 686 EIL. See Electrodeless Induction Lamp (EIL) EMI/RFI, 458, 459 Electrical coils, 63, 1148 Emotional objections, 706–707 Electrical connectors, 54, 1376, 1403 Employment, 1343 Electrical corona, 407, 412 – prospects, 1333 Electrical insulators, 1461 Emulating human colour recognition, 137–138 Index 2227

Emulsions, 1551 Euclidean N-space, 604 Enabling, 1228 Euler numbers, 595–597, 603, 822, 824, 825, 831, 832, – debug, 1229 864–866, 913, 936, 1033, 1075, 1598, 1599, 1605, Enclosed box, 1298 1688, 1900, 1935 Enclosure, 1312 European Machine Vision Association, 469 Encode, 397 Europium, 517 Encryption, 1506 E-vectors, 162, 234, 235, 238, 239 – of configuration data, 1110 Even illumination, 1299, 1300 Endoscope, 1352, 1405–1407, 1409, 1413, 1545 Even-numbered values, 602 Ends of lines, 781 Exact templates, 845 Energy, 617, 619 Exaggerated claims, 1338, 1339 Engineering, 118, 138 Exclusive OR, 591, 594, 596, 606, 819, 823, 832, 833, 845 – applications, 984 – of two images, 593 – artifacts, 50 Executed automatically, 917 – components, 32, 55 Execution speed, 872, 873, 876, 898, 900 – mathematics, 982 Execution time, 702, 722, 819, 841, 844 Engines Exemplar, 749 – block, 626 Exhaustive search algorithm, 707 – cylinders, 1413, 1548 Existence, 510 – part, 65 Existential inspection, 520, 522, 856 Engraving, 1376, 1401, 1403, 1430, 1508 Expanding – embossing rolling pressing, 1430 – gripper, 593, 930, 2069 Enhanced aluminium coating, 205, 206, 249 – white areas, 591, 601 Ensure machine safety, 1335 Experienced users, 905, 915, 948 Entrance pupil (iris), 1158 Experimental design, 1329 Entropy, 617, 619 Experimentation, 27, 38, 47, 50 Environmental, 538–540 Expert systems, 38, 58, 703, 1033 Environmental lighting, 284, 289, 295, 297, 302, 313 Explosive, 1498, 1501 Environments, 1298, 1313, 1314, 1332–1343 Exponential time, 796 – for industrial camera, 457 Exposure adjustment, 1301, 1302, 1315 Epilepsy, 302, 305, 1411 Exposure control, 371, 373, 382, 386, 390–391, 393 Epileptic, 20, 303, 1299, 1411, 1487, 1506, 1522 Exposure times, 369, 373, 379, 380, 390, 391, 393, 428, Epitaxial, 359 434, 463, 489 Equalisation, 741–743, 769 Expressional convenience, 50 Equilateral dispersing prism, 228–229 Extended Gaussian, 635 E-rays, 238, 240 Extension tubes, 52, 1138, 1139, 1543, 1546 Ergonomics, 6, 18, 27 Extensive closing, 868 Ergot, 1275, 1276, 1285 External controls, 462–464 Eroding, 593, 609 External devices, 939–941, 943, 1032, 1104, 1109, Erosion, 47, 554, 593, 604–610, 620, 720–722, 733, 1129, 2126 803, 804, 806–819, 821, 823, 824, 826, 828–837, External peripheral devices, 1032 839–841, 843–852, 856, 859–865, 867, 868, External reflection, 165–166, 168 909, 923–925, 927, 928, 951, 958, 1233, 1234, External trigger, 371, 463 1252, 1256 Extinction ratio, 237 – examples of, 809, 811–812 Extracting meaning, 1032, 1065, 1067–1070 Erosion-dilation, 47, 606 Extreme points, 2067, 2069 Error correction learning, 692 – minimum bounding rectangle, 2067 Error feedback, 982, 1028 Extreme UV, 408 Error from inliers, 793 Extrusions, 15, 54, 1355, 1363, 1365, 1441, 1443, Error rate, 1274 1459, 1480, 1497, 1498, 1522, 1524 ESPI. See Electronic speckle pattern interferometry (ESPI) Eye-brain complex, 284 Estimating range, 1352, 1407–1409 Eyes, 1332, 1339 Etching/staining, 1545 – damage, 295 Ethernet, 43, 449, 461, 469, 471, 500, 502, 2126 – design, 95–97 Euclidean distance, 672, 687, 688, 690, 691, 737, 745, 746, – gaze, 798 748–751, 753, 754, 824, 825 – morphology, 114 2228 Index

– movements, 90, 103, 111, 113 FF. See Full frame (FF) – orientation, 93, 111–114 Fibre-optics (FO), 161, 177, 488, 1140, 1223, 1352, – safety, 627, 641 1354, 1362, 1363, 1365, 1373, 1376–1379, 1406, Eyes on potatoes, 67 1407, 1411–1413, 1415, 1417, 1426, 1429, 1430, 1436, 1437, 1439, 1443, 1446–1448, 1478, 1479, F 1490, 1491, 1493, 1500–1502, 1508–1510, 1522, Fabrics, 13, 39, 53, 54, 57, 120, 1318–1329, 1381, 1441, 1534, 1540, 1541, 1545, 1549 1476, 1522, 1528 – bundle, 1352, 1362, 1376–1379, 1406, Fabry-Perot interferometer, 220 1429, 1439, 1447–1448, 1490, 1500–1502, Face recognition, 1080, 1589, 1676 1510, 1549 Faceted rotating polygon mirror, 627–628 – coupler, 417 Factory – coupling, 376 – atmosphere, 55 – cross-section converter, 1443 – environment, 1363, 1533 – image conduit, 1352, 1411–1413, 1415, 1478, – floor, 16, 25, 27, 28, 51 1479, 1493 – safety, 1333, 1335–1336, 1342 – imaging bundle, 1379 Factory-floor system, 1546 – line illuminator, 1365, 1436, 1437ribbon, 1493, Facts, 1036, 1038 1501, 1502 Failure mode, 288 – ring light, 1373, 1413, 1426, 1491, 1508, 1509, False alarms, 776, 1271, 1273–1276 1534, 1540 False negatives (FNs), 1283 Fibrous surface, 1491 False positives (FPs), 1267, 1274, 1276, 1282, 1283 FIC. See Flexible inspection cell (FIC) False votes, 1270 Fidelity of colour reproduction, 484 Fan operator, 766 Fiducial, 1255, 1489,, 1524 Fan-shaped beam, 517, 1448, 1460, 1462, 1463, 1470, Field curvature, 199 1480, 1493, 1524, 1555 Field-of-view (FOV), 28, 193, 69, 93, 96, 629, 1141, Far-field interference, 1476 1145, 1149, 1292, 1298, 1299, 1358, 1359, 1363, Fast dedicated hardware, 56 1367–1371, 1373–1375, 1384, 1389, 1413, 1423, Fasteners, 1333 1432, 1433, 1441, 1448, 1459, 1461, 1479, 1487, Fast execution, 872 1513, 1515, 1518, 1529, 2056, 2059, 2060 Fast-food wrapping, 1334 Field programmable gate arrays (FPGAs), 15, 1104, Fast Fourier transforms, 885 1107, 1132 Fast hardware, 33 Field-scan frequency, 299 Fast moving parts, 1335 Field-size metamerism, 136 Fat, 539 Field splitter, 1383–1386, 1388, 1515 Faulty wiring, 523 FIFOs, 1119 Feasibility, 27, 58 – buffer(s), 1109, 1111, 1122, 1130 Feature-based approach, 636 Filament lamps, 125 Feature-based pose-determination, 644 Filament temperature, 291, 293–295, 1518 Feature clustering, 652 File format, 986, 1028 Feature contrast enhancement, 803 Fill factors, 367, 369, 370, 372–374, 377–379, 383, 384, Feature detection, 393, 1265–1266, 1275, 1285, 1627, 388, 391, 397, 402, 423, 425, 491 1632, 1672, 1748 Filling, 510, 532 Feature enhancement, 1265 – holes, 596 Feature extraction, 465, 1080, 1081, 1120–1122 – levels, 510, 520, 1214–1217 Feature identification, 736 – small lakes, 812 Feature location, 44, 465–466, 777, 836, 838 Film-based cameras, 337 Features, 803, 809, 816, 817, 822, 824, 829–831, 833, Films, 13, 38, 39, 54, 55, 57, 118 835–838, 845, 850, 853, 856, 862 – thickness measurement, 1472 Feature vectors, 636, 1081, 1084–1086 Film to Still, 337 Feed-back, 9, 33, 291, 311, 1301 Film to Video, 336 Feed-forward artificial neural network, 1099 Filtered air, 1298 Female screw threads, 23, 1358, 1417, 1457, 1537, 1540 Filter holder, 251 Fences, 798 Filtering functions, 567 Ferrous component, 852, 1352, 1391–1394 Filtering images, 35 Feussner bi-refringent material, 1535 Filtering chain code, 734, 735 Index 2229

Filters, 124, 127–129, 140–142, 161, 163, 164, 188, Flat rectangular structuring element, 856 218–228, 243, 249, 250, 252, 255, 257, 320–322, 325 Flat shiny surfaces, 1479 – interference, 486 Flat-topped object, 1460 – orientation, 224–225 Flexible bags, 63 – wheels, 128, 464, 1071 Flexible inspection, 2058 Final line fitting, 781–782 Flexible inspection cell (FIC), 1353, 1413–1424, Finance, 1033, 1342 1460, 1477, 1478, 1485, 1515, 1520, 1560 Fine, 616 Flexible objects, 70, 1491 Fine powder, 81 Flexible prototyping system, 886 2-finger gripper, 937, 969 Flexible robot assembly, 634 Finger holes, 930, 931 Flexible technology, 1340 Fingerprints, 295, 494, 936, 1332 Flexible tubing, 32, 64 – matching, 1080 Flexible wires, 935–936 – recognition, 17 Flicker, 295, 299, 300, 1299 Finish, 1339, 1342 Flickering fluorescent lamps, 302, 336 Finite impulse response filters, 1108 Flint/crown-glass interface, 165 Finite-state machines (FSMs), 720–722, 866, 1112, 1131 Flipped, 811 – recursion, 873 Float glass, 337 FireWire, 43, 470, 500, 502, 1130 Floating-point, 701 FIR filter, 550–551 Floeder skeletonisation algorithm, 844 First-order derivative, 647, 648, 654 Flounder, 111 First-surface mirrors, 204–208, 211, 1515, 1519 Flour, 81, 1271, 1340 Fish, 109, 110, 510, 1424, 1559 Flourite, 175 Fisher criterion, 1092 Flow chart, 28 Fish-eye, 36, 260, 272 Flow control, 983, 984, 986, 987, 1002, 1032, 1033 Fish-eye lens, 326, 1358, 1413, 1441 Flowers, 681 Fish scales, 279 Flow in Prolog program, 1042 FIT. See Frame interline transfer (FIT) Fluid control valves, 1513 ‘Fit’, 834 Fluid flow, 1551 Fitting algorithm, 1154 Fluorescence, 4, 27, 31, 121, 180, 225, 376, 407, 1353, Fitting a circle, 752–761, 2070, 2071 1381, 1391, 1394, 1424, 1426, 1467, 1541, 1545, 1555 Fitting curves, 1211 Fluorescent, 30, 39, 126, 154, 1334, 1342, 1391, Fitting polynomial curve, 2071–2072 1403, 1424 Fitting straight lines, 2069–2070 Fluorescent coating, 297, 298 5*5 dilation, 1124 Fluorescent lamps, 287, 289, 290, 295–303, 313, 314 Five transistors (5T), 388 Fluorescent lighting, 123, 287, 289, 291, 296–302, 307, Fixed-level thresholding, 42, 53, 1303 311, 312, 1140, 1141, 1446, 1518 Fixed pattern noise (FPN), 362, 376, 388, 402, Fluorescent ‘‘cool white,’’ 298, 312, 314 433, 494–496 Fluorescent ‘‘daylight,’’ 287, 298, 312 Fixed position, 1407, 1462, 1463, 1476, 1479 Fluorescent ‘‘deluxe cool white,’’ 314 Fixing brackets, 1335 Fluorescent ‘‘deluxe warm white,’’ 298, 314 Flames, 64, 322, 562 Fluorescent dye penetrant method, 1391 Flank angle, 833 Fluorescent security marking, 13 Flash, 1454, 1487, 1490, 1505, 1506, 1513, 1522 Fluorescent tube(s), 37, 162, 216, 236, 321, 484, 488, Flash converter, 557, 558 1319, 1429, 1442–1446, 1479, 1491, 1534, 1541 Flash duration, 1363, 1524 Fluorescent ‘‘warm white,’’ 287, 312, 314 Flash frequencies, 1299 Fluoride-doping, 410 Flash illumination, 1299 Fluoroscopic imager, 418 Flashing lights, 20 Flushing, 1111, 1125 Flat bed, 335, 336, 345, 346 Flying drops, 1501, 1540 Flat bed scanner, 336, 344, 346, 2126 Flying leads, 13, 52–53, 935, 937, 1147–1154 Flat-field correction, 496 Flying-spot scanner, 18, 537, 1450, 1520, 1523 Flat materials, 263, 266–269 FNs. See False negatives (FNs) Flat moving web, 1353, 1450–1453 f-number (f/#), 193, 194, 196, 334, 345, 346, 349, 350, Flatness, 204, 209, 382 352, 416, 1363, 1373, 1389, 1411, 1424, 1537, 1551, Flat panel displays, 1244 1559, 1560 2230 Index

Focal distance/length, 91, 95, 110, 189, 190, 192–194, 198, Four-point template, 794 200, 202, 210, 211, 213, 503 Fourth-order polynomial, 920 Focal plane, 193, 196, 197 Four transistor (4T), 387, 390, 391 Focal point, 189, 191–194, 196, 211, 217, 252, 1156, 1157 Fovea, 93, 95, 97–99, 103, 107, 108 Focused annulus of light, 1353, 1424–1426 Foveal depression, 108 Fog, 406, 415 FPGA, 460, 461, 1107–1110, 1113 Folding optical path, 1223 FPN. See Fixed pattern noise (FPN) Foliage, 68, 71, 77 FPs. See False positives (FPs) Follower, 751 Fractures, 1541 Food, 508, 509, 517, 539, 1403, 1424, 1429, 1441, Fragmented insects, 1274 1462, 1464, 1485, 1501, 1503, 1555, 1557, 1559 Frame buffers, 551, 1116, 1118, 1120–1122, 1126, – containers, 13 1130, 1132, 1134 – inspection, 1282 2-Frame delay, 741 – materials, 509, 510, 539 Frame grabber, 462, 464, 467–470, 1138, 1139, 1222, – manufacturing, 62 1223, 1245, 1253–1255 – pharmaceuticals, toiletries, 55 Frame interline transfer (FIT), 366, 373–375 – processing, 66, 76, 80 – advantages, 373–374 – products, 32, 44, 50, 55–56, 119, 120, 154, 509, 531, – architecture, 373–374 541, 1262–1286, 1357, 1403, 1429, 1434, 1458, 1459, – limitations, 374 1497, 1524, 1529, 1545, 1559 Frame period, 428 – trimming machines, 70 Frame rate, 369, 377, 389, 392, 404, 428, 453, 462, Food-handling, 539 1412, 1524 Food-processing, 532, 539 Frame transfer (FT), 366, 368–370, 490 Food-stuffs, 1342 – advantages, 369 Foot-of-normal parametrisation, 780 – applications, 370 Foot-of-normal transform, 779, 783 – architecture, 368–370 Footprint signature, 636 – camera, 1478 Foot-wear, 62 – CCD, 490, 491 Forced thermal emission, 1353, 1427 – CCD sensors, 491 Foreign bodies, 13, 32, 41, 50, 53, 63, 69, 508–510, – limitations, 369 517, 523–525, 529, 531, 532, 534–539, 1285, 1389, Free fall, 1353, 1354, 1429–1430, 1513–1514, 1398, 1400, 1403, 1406, 1555 1516, 1522 Foreign grains, 1285 Free-form surfaces, 635, 636, 646 Foreign material, 1479, 1541 Freeman code, 601 Foreign seeds, 1274, 1275, 1284 Free-running, 1292 Forensic science, 17 Freezing instantiations, 1041, 1042 Forged ferrous component, 31 Freezing motion, 1292, 1299, 1521 Forged steel connecting rods, 30 Frei edge detector, 584, 585 Forgings, 1355, 1391 French, 74, 134 FOR loops, 49, 986, 987 Frequency domain, 615, 616 Formulae, 45, 58 Frequency response, 850–856, 859, 860 Fortran, 1034 – of morphological filters, 850–856 Forward mapping, 1120, 1126, 1127 Frequency spectrum, 615, 616 Foster bi-refringent material, 1535 Fresnel equations, 1167 Four connected image, 1236 Fresnel lens, 35–36, 41, 260–280, 322, 1159, 1426, Four connectivity, 1237 1446, 1465, 1529, 1530 Fourier, 615, 617, 885, 984, 1353, 1476–1477 Fresnel’s laws, 166 Fourier series expansion, 704 Fresnel’s laws of reflection, 165 Fourier spectral analysis, 617 Friction, 404 Fourier transform, 35, 202, 610, 615–617, 739, Fringes, 1354, 1472, 1503–1505 873–885, 912, 1375, 1454, 1476 Frontal eyed animals, 111 Four metal objects, 1509, 1653, 1690, 1691, Frontally placed eyes, 93 1700, 1768, 1785, 1795, 1805,1807, 1831, Front-illuminated CCD sensor, 366 1883, 1919, 1935 Front lighting, 920 Four-neighbours, 706 Front reflection, 452 Four-phase register, 364 Front-silvered mirrors, 1298, 1498, 1515 Index 2231

Front-surface mirror, 230 Gaussian curvature, 635 Frozen chickens, 63 Gaussian density, 1085 Fruit, 13, 32, 44, 50, 56, 681, 1334, 1462, 1548 Gaussian distributions, 1170, 1171 – on tree, 75 Gaussian noise, 906, 951, 1643, 1727, 1743, 1844, 1951 Frustrum, 1386 Gaussian smoothing method, 649, 655, 656, 658 FSM. See Finite-state machine (FSM) Gaussian stochastic processes, 635 f-stop, 494 G-channel, 911 Fuel injection nozzle, 50 Gear, 1156–1163, 1616, 1617, 1732, 1886, 2068, 2085 Fuel sprays, 1540 – inspection, 1159–1160 Full frame (FF), 366–368, 454 – with internal teeth, 1157 – advantages, 366–367 – silhouette, 53 – applications, 367–368 – teeth, 1156, 1158–1163 – architecture, 366–368 – teeth detection, 1160–1163 – CCD image sensor, 366 Gelatine, 1446, 1467 – sensors, 367 – filters, 219, 226, 1483, 1485 Full ranked filter, 888 Gels, 72 Full-well capacity, 361, 362, 365 Gems, 13, 238, 510, 1541, 1542, 1544 Fumes, 4, 55, 81, 494 Generalisation, 1101, 1337 Functional parallelism, 1107, 1111 – of shrinking, 605 Funding of research, 19 Generalised cylinder, 1295 Fungal attack, 510 Generalised Hough transform (GHT), 787, 791–792, Furnace batch charge, 562 796–799 Furthest edge point, 754 Generalising colour operation, 672 Furthest point, 602 Generalising colour recognition, 676

Fused silica (SiO2), 175, 178–180, 209, 227, 410, 411 General purpose, 1340, 1342 Fuzzy binary template matching, 873 – computers, 43, 51 Fuzzy logic, 680, 681 – image processing library, 1169 Fuzzy sets, 1062 – I/O, 1109, 1113, 1115, 1130 General shapes, 777, 791, 1267 G General spatial relationships, 49, 1032 Gadolinium, 419 Generating X-rays, 512–513 Gadolinium oxysulphide, 516, 517 Generating efficient code for SKIPSM, 890–898 Gain, 363, 374–378, 392, 393, 397, 398, 412, 425, Generation of lookup, 878–879 429–431, 433, 434, 451, 463, 464 Generator function, 891, 893 – of camera, 42 Generic row machines, 892 Gallium arsenide, 398, 402 GenICam, 469, 475, 501, 502 Gallium phosphide, 277 gensym/2, 1046 Galvanometers, 1450, 1453, 1519, 1521, 1523 Geometrical defects, 1222 – movements, 1520 Geometrical distortion, 648, 655–658, 661 Galvanometric scanning, 342, 346 Geometrical inspection, 1227 Gaming dice, 274, 1442, 2068 Geometrical transformation, 636 Gamma, 393, 412–419, 441, 463, 497, 508 Geometric centroid, 2064, 2066, 2067 Gamma adjustment, 393, 441, 558–560, 564, 907, Geometric distortions, 263, 613, 1117, 1400, 1463, 916, 949, 953, 969 1488, 1531 Gamma rays, 18, 27, 168, 180, 322, 412–419, 1335 Geometric features, 1032 Gamuts, 143, 154, 441–443, 447 Geometric inspection, 1222 Gantry robot, 1415, 1417, 1423 Geometric metamerism, 135 Garbage collection, 982 Geometric properties, 626 Gardening, 71 Geometric transformations, 715, 1120, Gas cooled x-ray tube, 513 1126–1127, 1481 Gas discharge lamp, 297, 321 Geometric transforms, 612 Gateway board, 943–945 Geometric warping, 145, 1358 Gauge, 1138, 1139, 1141, 1144 Geometry, 637, 648, 654, 658 Gauging, 261, 262, 265–266, 280, 1137–1146, 1244 – 3D, 1434 Gaussian blur(s), 874, 883–885, 898, 899 – distortion, 658 – difference-of-Gaussian filters, 874 – variations, 434 2232 Index

Germanium, 402, 404–406, 1427 Gold, 205–208, 249, 519, 672 German standard colour system, 150 Golden sample, 522, 529, 1383, 1384, 2079 Germicidal ultraviolet, 408 – image, 803, 836 G-functions, 893 go/no-go gauge, 745, 748 Ghost, 204, 243, 244, 920, 921, 925, 926 Good and bad textures, 80 – images, 244–246 Good and defective items, 1333, 1337 GHT speedup techniques, 797 Good character, 828 GIF. See Graphics interchange format (GIF) Good enough, 698, 704 Gigabit Ethernet (GigE), 500, 502 Good products, 1337 – vision, 469, 475 Good sample, 118 Glan-air prism, 241 Graded index (GRIN), 277 Glan-Foucault prism, 241–242 Gradient based region growing, 654–656 Glan-Taylor prism, 237, 242–243 Gradient histogram, 654–656, 658, 659, 661 Glan-Thompson bi-refringent polariser, 1535 Gradients, 874, 1234, 1235, 1239, 1240 Glan-Thompson prism, 241, 242 Gradient weighting, 792 Glan-type polarisers, 240 – of votes, 797 Glass, 174, 176–178, 185, 192, 255, 1201–1220 Grading, 4, 13, 15, 63, 66, 70, 119, 140, 1105, – bottle, 6, 13, 54 1115, 1117, 1123, 1128, 1290–1315, 1333, 1334 – crown, 165, 174, 175, 178, 186, 208, 244 – algorithm, 1306–1309 – flint, 165, 174, 175 – classifying fruit and vegetables, 70 – furnace, 563 – fruit, 13, 32, 44, 120 – imperfections, 1222 – living plants, 70 – jars, 13, 510, 532, 533 Graduated neutral density (ND) filters, 226–227 – milk-bottle, 918 Grafting, 71 – panels, 1232 Grain, 839, 849 – plates, 1244, 1379, 1396, 1413, 1439, 1448, – beetle, 1273 1451, 1461, 1472, 1534 – kernels, 1281–1284 – rim, 1222 – location, 1279–1281 – rod, 1442, 1446 – of rice, 1834, 1848 – substrates, 1244–1248, 1253, 1255 Grammar rules, 1063–1066, 1070, 1071 – thickness, 561 Grandparent-grandchild pairs, 1041 – vial, 1397, 1399, 1400, 1697, 1873 Granularity, 620 Glassware, 54–55, 1222, 1224, 1225, 1227, Granular material, 1353, 1429–1431, 1524 1229, 1230 Graphical block, 982 – inspection, 55 Graphical user interface (GUI), 49, 982, 984–986, Glinting, 71, 234, 236, 1205, 1206, 1352, 1354, 1139, 1144, 1166 1363, 1375–1376, 1378, 1394–1395, Graphics file formats, 986 1403, 1407, 1430, 1487, 1491, 1515, 1524, Graphics interchange format (GIF), 986 1534–1535, 1537 Graphite, 519 Glitches, 734, 735 Graph matching, 1265, 1268 Global measurement, 803 Grasp, 1148 Global shutter, 491 Grasping point, 2067 Global threshold, 1234, 1292 Grasping position, 32 Globs of adhesive, 72 Grass-fire Glossy coating, 172 – skeleton, 825 Glossy magazines and books, 340 – transform, 47, 598–599, 713, 723, 745–751, Glossy paint, 54 825, 857, 858, 873, 879, 939, 969 Glossy painted surfaces, 1430 – transform (prairie fire transform or distance Glycerol, 175 transform), 824 Goal, 1033, 1035, 1038, 1040–1046, 1050, 1056, Grassman’s Law, 134, 672 1064, 1065, 1067–1070, 1073–1077 Gratings, 121, 122, 138, 161, 162, 219, 322, 325 – failure, 1041 Gray-level standard deviation, 1174 – satisfaction, 1035 Grazing illumination, 166–168, 326, 1167, 1319, Gobs of molten glass, 72 1329, 1353, 1430, 1432, 1480, 1508, 1524 Go¨del’s theorem, 704 Greasy, 77 Index 2233

Green, 671, 679, 681, 686, 690, 693 GUI. See Graphical user interface (GUI) Greenhouse effect, 405 Guide rails, 14, 67, 78, 1493 Gregory telescope, 213 Guiding, 1333, 1334 Grey-level spatial dependency statistics, 618 – autonomous vehicles, 44 Grey-level wedges, 874 – flexible robots, 637 Grey-scale, 42, 46, 47, 57 Gun barrels, 266 – analysis, 466–467 – bottom-hat, 848 H – closing, 610, 848, 852–855, 863, 1302 Hafnium oxide, 410 – dilation, 609, 890, 891 Hair, 601, 726 – edge detection, 851, 865, 909 – removal, 826 – erosion, 609, 846–850, 859, 889, 891, 1252 Hairy edges, 726 – filter, 57 Half-duplex, 1311 – filtering, 675 Half-silvered mirror, 244 – histogram, 999 Hall of mirrors, 213, 1358 – image, 42, 57, 805, 806, 811, 817, 824, 834, Halo, 862 845, 846, 848, 850 Halogen lamps, 447, 1140, 1223 – image processing, 608, 890 Hand-carved, 66 – interpolation, 1146, 1244 – prototypes, 44 – morphological, 745, 748, 749, 1252 Hand-cut / engraved glass-ware, 66 – morphological closing, 1087 Handel-C, 1112, 1113 – morphological filtering, 1122 Hand-eye coordination, 929 – morphology, 47, 554, 608–610, 804, 845–856, Hand-held sensor, 1353, 1430–1433 862, 874 Hand-knotted rug, 680 – opening, 609, 848, 865, 1323 Handling mechanisms, 1415 – run-length encoding, 874 Handling system, 1166, 1169 – SE for, 848 Hands-free speech-controlled, 1071 – template matching, 874 Hand-thrown pot, 66 – texture, 856, 1318 Hand-written text, 1080, 1081 – top-hat, 848 Hard edge ND filter, 227 Grey toroidal alloy component, 1527 Hardness testing, 1353, 1430, 1433–1434 Grid pattern, 1718 Hardware, 4, 16, 19, 27, 33, 43–45, 47, 51–53, Grids, 807, 816, 862, 1355, 1356, 1362, 1369, 1371, 56, 57 1458, 1462, 1485, 1498, 2079, 2081 – accelerator, 776 GRIN. See Graded index (GRIN) – description language(s), 1111–1113, 1133 Grinding, 1498, 1501 – error detection, 1109 – sparks, 1501 – implementation, 555 Grind wheel, 13 Hardware-software platform, 45 Gripper, 929, 930, 935–939, 1417, 1423, 1549, 1550, Harmonious integration, 53 1719–1724, 1776 Harvesting, 63, 1548 – finger, 935–938 Hasselblad, 453 – jaws, 2062 Hazard electrical discharge, 457 Groove, 1138 Hazardous environment, 1415, 1501 Gross misshapes, 1210–1213 Hazards, 4 Gross shape distortions, 774, 1210–1213 H-bridge port, 943, 945 Ground foraging, 111 H1 comment lines, 915 Grounding, 451, 458 HCT, 406 Ground truth, 650, 651, 658 HDCP, 470 – problem, 72 HDMI, 470 Groups of points, 635 HDTV. See High-definition television (HDTV) Growing, 604 Head bobbing, 112 – animals, 66 Head-lamps, 1220 – plant, 63 Heads up, 1043 Guarantee of performance, 706 Health screening, 17 Guard region, 1368, 1370, 1423 Heat distribution, 1355, 1551–1554 2234 Index

Hebbar, 249 Histogram, 589, 590, 603, 618, 739–743, 922, 923, Height analysis, 1353, 1434–1436 957, 958, 960, 1118, 1120, 1125–1126, 1141, 1170, Height contours, 44 1171, 1301, 1302 Helical springs, 1357 – equalisation, 42, 536, 590, 591 Helices, 1453 – features, 617–618 Hemi-spherical diffuser, 78, 1381, 1491 – peaks, 780 Hemi-spherical mirrors, 213, 326 Hit-and-miss, 844–845 HeNe laser, 313 Hit-or-miss, 838, 845, 848 Hermann grid, 96 H1 line, 917, 962 Heuristics, 18, 43, 45, 50, 69, 70, 1059, 1151, 1237, HLS, 442 1239, 1240, 1329, 2067, 2070, 2077 Holes, 359, 361, 378, 383, 384, 396, 418, 424, 450, 458, Heuristics in lieu of algorithms, 704 465, 466, 768, 806, 818, 873, 891, 1352, 1353, 1359, Hewlett-Packard, 141 1372, 1373, 1379, 1383, 1386, 1395, 1403, 1405–1407, Hexachrome, 143, 153 1411, 1413, 1417, 1432, 1457, 1485, 1491, 1493, 1494, Hexadecagons, 758 1496, 1524, 1527, 1534, 1537, 1540, 1549, 1593, 1595, Hexagonal nut, 274 1599, 1605, 1616, 1618, 1688, 1711, 1900 Hexagons, 758 Holes (‘lakes’), 809 Hidden Markov model (HMM), 1086 Hollow circle SE, 835 High-contrast edges, 465 Hollow cone of light, 1354, 1494–1496 High-contrast images, 20, 52, 53, 1148 Hollow cylinder, 1353, 1373, 1448, 1449, 1548 High-definition television (HDTV), 154, 481 Hollow-ware, 1491, 1546 High-energy particle tracks, 797 Holograms, 122, 1359, 1362, 1381, 1482, 1528 Higher-dimensional binary morphology, 874 Holographic filter, 1463 Highest peak, 617 Holographic lens, 1462, 1480, 1524, 1533 High frequency fluorescent/LED, 345 Holographic security tags, 1482 High-frequency supply, 1491 Holography, 183 High-intensity light source, 1232 Homogeneity, 619, 620 High-level concepts, 1058–1060 – of texture, 619 High-level image processing, 48 Homogenising illumination, 1353, 1442 High-level reasoning, 1032 Homogenising laser beam intensity, 279 High-level vision, 1263, 1264 Homogenous medium, 161 Highlights, 576, 583, 1363, 1375, 1376, 1394, 1395, Homomorphic filtering, 544, 545, 554, 562 1430, 1479, 1536, 1542, 1551 Homomorphic Wiener filtering, 545 Highly-collimated illumination, 1225 Honeybee, 109 Highly variable coloration, 72 Hook, 1238 Highly variable entities, 62 Hopper storage, 1169 Highly variable environments, 33 Horizontal axis, 1295 Highly variable food products, 1262, 1263 Horizontal blurring, 717 Highly variable objects, 62, 65, 67–69, Horizontal chord, 785, 1211 1214 1032, 1058 Horizontal edges, 581 Highly variable reflectance properties, 1166 Horizontal features, 581 High-pass filter, 582, 617, 852, 1601, 1847, 1852 Horizontal lines, 1279 High-pass filtering, 42, 544, 546–549, 561, 581, 582, Horizontal line SE, 822, 835, 851, 852, 860, 862 1596, 1630, 1929 Horizontally polarised component, 1535 High-precision industries, 62, 64 Horizontal non-conducting, 1535 High-pressure mercury lamp, 291 Horizontal scan lines, 784, 2069, 2070 High-pressure sodium lamp, 125, 314 Horizontal slit, 1167 High-purity lighting, 1220 Horizontal streak/edge, 581, 611, 1214, 1215 High-resolution image, 51 Horizontal symmetry, 717 High-resolution view, 1353, 1436–1437, 1495 Horse, 33 High-speed conveyors, 4, 54 Horse-shoe, 824, 2066 High-speed electronic hardware, 51 Horticulture, 44, 62, 63, 71, 77 High-tolerance parts, 69 Hostile environment, 620 Hilbert curve, 39, 740, 741, 1729, 1890 Hostile factory conditions, 52 Hill-climbing, 707 Hot air, 1335 Index 2235

Hot mirrors, 222, 250, 1383 Hydraulics component, 1579, 1631, 1665, 1678, 1716, Hot spot, 982, 1553, 1554 1740, 1885, 1897 Hot steel slab, 1501 Hydraulics cylinders, 38, 1405, 1457, 1458, 1548 Hough transform (HT), 46, 56, 610, 613–614, 638, Hydraulics manifold, 7, 13, 1483, 1559, 1713, 1780, 642, 646, 761–764, 766, 767, 769, 774–799, 874, 1804, 1856, 1867, 1943, 2078, 2079 1263, 2079 Hydrogen flames, 407, 412 – 1D, 784 Hydrogen fluoride, 180 – 2D, 785 Hygiene, 81, 509, 539, 540 – 3D, 784, 798 Hyperbolas, 798 Housefly, 33 Hyperbolic, 214, 215, 217, 218 Household incandescent filament lamp, 125 Hyperbolic tangent activation, 1097, 1100 [H,S], 676, 678–680, 682 Hypercentric lenses, 36, 269–271, 274, 280, 1439, HSB, 442 1441, 1442, 1548, 1549 HSI. See Hue, saturation and intensity (HSI) Hyper-eye lenses, 269 HSI/YUV, 693 Hyperspectral, 448 HSL, 442 – imaging, 403, 448 HS plane, 677–678, 684 Hypersphere, 688–690 HS space, 671, 678, 680, 681 – sub-classifiers, 688, 689 HSV, 442 HT. See Hough transform (HT) I Hue, 73, 76, 442, 484, 671–674, 676, 677, 679, 683 ICC. See International colour consortium (ICC) Hue circle, 150 Icing (frosting), 831, 1047, 1048 Hue, saturation and intensity (HSI), 118, 142–145, 484, Ideal band-pass filter, 615, 616 666, 667, 669, 677, 689, 713, 749, 988, 1020, 1467 Ideal cream biscuit, 1270 – camera, 1467 Ideal refractive index, 185 – model, 671, 672 Idempotency, 606 – spaces, 667, 669, 671, 689 Identification of geometric, 1263 Hue-saturation (HS) scattergram, 667, 674, Identifying, 1334 679–681, 684 – bounds, 1001 Human artefacts, 66, 76 – peak values, 1256 Human behavior, 1080 IEEE 1394, 500, 502 Human beings, 90 IEEE 1394b, 470, 501, 502 Human brain, 104, 105 IEEE standards, 1111 Human colour vision, 118, 130–138, 140 IF/IF...THEN...ELSE, 49, 986, 987, 1035 Human-computer interface, 27, 917, 1421 Ignored, 848 Human contrast sensitivity function, 101 IIDC, 501, 502 Human experience, 707 IIR filter, 1312 Human eye, 40, 93, 95, 98, 101–103, 107, 200, 516 Ill-defined edges, 1275 Human eye-brain complex, 36 Ill-defined shape, 62, 68 Human face, 568, 569 Ill-formed dollops, 2067 Human factors, 539 Illuminance, 286 Human history, 1080 Illuminant metamerism, 135 Human inspectors, 32, 54, 1156, 1166, 1222 Illumination, 4, 5, 20, 27, 30, 31, 35–38, 44, 50, 68, Human intelligence, 1152, 1320, 2085 72, 77, 78, 1166–1168 Human intuition, 27, 38, 45, 668, 678, 681–682, – cone, 1537 840, 2072 – dependencies, 1141 Human perception, 630 – diagrams, 325–327 – of colour, 118, 131–133 – effects, 443 Humans, 92–94, 96, 100, 102, 103, 106–114 – invariance, 9, 42, 543–564 Human vision, 4, 16, 33, 34, 43 – optics, 320, 1351 – low level processing, 97–103 – patterns, 1426, 1435, 1436, 1446, 1471, 1527 Hum bars, 299, 300, 308, 311, 480, 1443, 1446, 1518 – sources, 161 Humidity, 499 – systems, 217 Hybrid processing, 35 – variations, 1140 Hybrid sensors, 372 – viewing angles, 121 2236 Index

Illumination-corrected image, 1247 Imaging optics, 35, 287–289, 320 Illumination-invariant, 553, 555, 559–563 Impact, 1501 Illusion of size, 106 Imperative, 1032, 1034, 1035, 1043–1045 Image acquisition, 16, 20, 21, 27, 28, 35, 37, 38, 53, Imperative language, 1032, 1034, 1035, 1043, 1044 160–161, 218, 1166, 1169, 1264, 1351, 1355, Implementation of Prolog+, 1055, 1071–1078 1399–1400, 1406, 1415, 1432, 1447, 1481, 1493, Importance of rare events, 706 1494, 1513, 1554–1555, 1557 Imprint alignment, 13 – devices, 358, 428, 462 Inaccessibility, 1460 – sub-system, 124 Inaccurate timing, 1314 Image arrays, 1118 Incandescent filament, 123, 124, 162, 321 Image aspect-ratio, 35 – lamps, 37, 125, 126, 287, 289, 290, 292–296, 298, Image averaging, 1581 306, 312–314, 436, 484, 2098 Image capture, 1297–1301, 1309, 1313 Incandescent lamps, 286, 287, 289–291, 293–296, 300, – hardware, 1245 302, 306, 307, 312, 1376, 1394, 1518 Image conduit, 1352, 1353, 1379, 1411–1413, 1415, Incandescent light source, 493 1478–1479, 1493, 1494, 1500–1502, 1510 Inclusions, 171, 209, 510, 1222, 1427 Image contrast, 19, 20, 30, 31, 53 Incomplete thinning, 824 Image distance, 202, 210, 211 Inconel, 244 Image-enhancement optics, 1351 Increasing contrast, 1583, 1586, 1596, 1676, 1683, 1735, 1791 Image filters, 57 Incremental cost, 1335 Image formation, 42, 211, 213, 218, 229 Indentations, 601 – model, 545, 546 Indexed linear motion, 1487 Image formats, 18, 35, 482, 910–911 Index of refraction, 173, 174, 178, 185, 186, 209 Image generation function, 2088 Indium gallium arsenide, 402 Image geometry, 212 Indium tin oxide (ITO), 364, 365 Image height, 210, 211 Industrial engineering, 18 Image intensifiers, 376, 416, 419, 435, 457, 472, 630 Industrial face masks, 54 Image persistence, 429 Industrial inspection, 27, 54 Image plane, 195, 196 Industrial parts-handling, 71 Image processing, 6, 9, 11, 14, 16–23, 25, 27, 28, 30, Industrial personal computer, 1138 31, 35, 41–58, 509, 511, 516, 520, 531, 532, 535, Industry standard, 1341 537, 538, 1294, 1295, 1300–1306, 1309, 1314 Inertia, 619–620 – 3D, 988 Inescapable disparity, 103 Image processing toolbox (IPT, MATLAB), 906, 911, In-feed stage, 1169 945, 978, 1071 Inference, 774–777, 798, 1263, 1265, 1267, 1268, Image processing tool kit, 703 1275, 1285 Image registration, 856 Inferotemporal cortex, 105 Image representation, 704, 707–715 Infestation, 510 Image resolutions, 482, 1462, 1524 Infix Prolog operator, 1073 Image rotation, 712, 760, 1419, 1509, 1510 Information flow, 160 Images as look-up tables, 714–715 Infra-red (IR), 6, 27, 72, 161, 168, 179–181, 205, 212, Image sensors, 6, 358–401, 404, 407, 412, 416, 417, 222, 239, 285, 288, 289, 303, 320, 322, 331, 336, 419, 420, 423, 429, 434, 444, 452, 458, 472, 473 337, 359, 373, 376, 394, 397, 399–408, 411, 446, 447, Image setters, 340, 341 449, 452, 472, 475, 483, 487, 511, 626, 627, 650, Image size, 35 686, 687, 1280, 1381, 1383, 1385, 1405, 1415, Image space, 260, 777–779, 781, 782, 1156, 1157 1417, 1427, 1461, 1482, 1485, 1487, 1489, 1518, Image stack, 907, 916, 949, 951, 953, 954, 956–961 1519, 1528, 1537, 1546, 1547, 1549, 1554 Image subtraction, 535, 538 – blocking, 1546 Image tear, 480, 481 – images, 2098–2013 Image understanding, 1080 – laser radar, 650 Image variability, 508, 536 – LED, 1312 Image view panel, 1228, 1229 – region, 207, 208 Image warping, 567, 714, 715, 1462, 1481 InGaAs, 402, 403, 405, 406 Imaginary primaries, 438, 439 Initial edge coding, 709 Imaging, 625–661 Initialisation of parameter space, 781, 782 Imaging formation system for AXI, 511 Initial labelling, 1119, 1120, 1122 Index 2237

Injection moulding, 1501 – gradient vector, 777 Inks, 1342 – histogram, 589–591, 617, 922, 957, 958, 960, Inliers, 781, 792, 793 1365, 1366 In-mouth feel, 80 – maximum, 579 Inner edge, 850 – minimum, 580 Inner-loop, 875, 876, 878, 879, 882, 884, 888–890 – modulated probe beam, 626 Input arguments, 913 – multiply, 574 Input voltage, 451 – normalisation, 573 Insects, 775 – profile, 315, 1639, 1751, 1757, 1758, 1827, 1828, – detection, 1274, 1275, 1282, 1283 1833, 1866, 1881, 1950 – holes, 1334 – profiles, 14, 30, 46, 520, 521, 523, 524, 532, 536, – infestation, 1559 847, 854, 861, 920, 921, 970, 1364, 1380, 1446, – larvae, 1280–1284 2079, 2082, 2084 Inspecting, 6, 7, 15, 20, 32–33, 36, 38, 41, 44, 54–56 – projections, 988 – fruit, 120 – shift, 573, 574 Inspection, 4–8, 13–15, 18, 22–27, 32, 33, 35, 38–44, – stair-case, 1604, 1624 46, 48, 50, 51, 53–57 – steps, 582, 583 – 100%, 1222, 1230 – surface, 846, 847 – rate, 53 – wedge, 579, 758, 759, 854, 1592, 1760, 1797, – through glass, 1220 1813, 1835, 1915, 1950 – time, 1230 Interaction of light and matter, 121–124 Instability, 1105 Interactive analysis of clusters, 668 Instantiate, 1033, 1035, 1042–1046, 1051, 1052, Interactive development environment, 983–984 1065, 1067, 1070, 1074–1076 Interactive drawing, 953 Instruction repertoire, 48 Interactive image, 703 Instrument covers, 1220 Interactive image processing, 28, 45, 55 567, 803, 905 Integer, 984, 986, 992, 993, 1002–1014, 1016–1019, Interactive machine vision system, 22 1023–1026 Interactive thresholding, 916, 949 Integral camera optics, 320 Interactive vision system (IVS), 16, 30 Integrated circuit, 1558, 1810 Inter-class variability, 67 – chips, 65 Inter-cluster distance, 691 – x-ray, 13, 1921 Inter-connected rings, 824, 825 Integrated hybrid processor, 35 Interface module, 906 Integrated system, 38 Interface protocol, 501 Integrate intensities along image rows, 611 Interface unit, 917 Integrating sphere, 1493, 1494 Interfacing, 1104, 1129–1131 Integration sequence, 1258 – external devices, 51 Intel, 141 – vision systems, 6 Intellectual integrity, 1333, 1336–1340 Interference, 121, 122 Intelligence, 535, 536, 538 – filters, 35, 127, 128, 218–221, 224–226, 249, Intelligent analysis, 6, 27 1383, 1385, 1466, 1467 Intelligent image analysis, 71 – fringes, 43 Intelligent interpretation, 6 – patterns, 431 Intelligent lighting, 69, 77 Interferometry, 183 Intelligent processing, 27 Interlaced images, 370 Intelligent reasoning, 905, 925, 1151 Interlace distortion, 1223 Intelligent scene analysis, 90 Interlaced scanning, 479, 481 874 Intelligent vision system, 1032, 1334 Interlacing, 457 Intel pentium MMX, 899 Interline CCDs, 277, 425 Intensified arrays, 397–398 Inter-line marker, 708, 709 Intensity, 76, 411, 413, 419, 434, 442, 701, 708, 709, Interline transfer (IT), 366, 370–374, 490 712, 713, 715–718, 720, 722–724, 727, 737, – architecture, 370–374 740–744, 746–748, 755, 759, 764, 765 – CCD, 490, 491, 497 – anomalies, 1578, 1579 – sensor, 370, 371 – contours (isophotes), 171, 174, 315, 316, 758, Intermediate hues, 110 1542, 1645, 1763, 1808, 1885 Intermediate level users, 915, 948 2238 Index

Inter-mediate-level vision, 1263 Irregular transparent object, 1355, 1541–1543 Internal bores, 38 IR self-emission, 55 Internal defects, 1222 ISight camera, 1762 Internal detail, 508 Island, 595, 601 Internal drum, 343–344 Island hopping, 764, 766, 767, 769 Internal drum scanner, 343, 344 ISO9001, 459 Internal edges, 761, 763 Isochronous protocols, 501 Internal features, 1353, 1454–1457, 1481, 1555 Isolated black pixels, 821, 860, 864 Internal glass quality, 1222 Isolated rigid objects, 929–932 Internal reflections, 166–167 Isolated white, 853, 864 Internal screw thread, 219 – pixels, 819, 821, 827, 830, 860, 863, 864 Internal structure, 509, 539 Isolated word recognition, 1080 Internal surfaces of pipes, 217 Isolate each object, 929 Internal teeth, 1156, 1157 Isolate objects, 850, 857 Internal (female) threads, 1405, 1457, 1537, 1548 Isomorphism, 1268 Internal transmittance, 163, 180, 226 Isophotes, 44, 315, 316, 524, 1542, 1645, 1705, 1763 International colour consortium (ICC), 441, 442 Isotropic 2D filters, 853 Interpolating between colours, 672 Isotropic low-pass filtering, 1601 Interpolation, 612, 712, 715, 741, 742 Isotropic shapes, 791 – filter, 1124 IST. See Image space telecentric (IST) Interpretation algorithm, 781 IT Interpreted programming language, 982 – advantages, 371–372 Interpreting image pairs, 534 – applications, 372–373 Interrupts, 1035 – limitations, 372 Intersection, 578, 605 – sensors, 370–374, 377, 389 Intra-cluster distances, 691 Italian, 133 Intra-ocular muscles, 103 Iterated erosion and thinning, 843 Introductory tutorial, 986 Iterated filters, 718–719 Introspection, 25, 28, 50 Iterative expanding algorithm, 656, 661 Intuitive interface, 982 Iterative grouping algorithm, 655 Inverse, 575, 577, 591, 606, 614–616 Iterative merging of adjacent regions, 652 Inverse Hough, 614 Iterative outlier elimination, 644 Inverse of erosion, 810 Iterative rules, 691 Inverse operation, 810 Ivy leaves, 67, 1820 Inverse square law, 526, 792 Inverse transform, 614, 615 J Invertedretina of vertebrates, 91 Jacobite rebellion, 214 Investigation of features, 952 Jaffacakes, 1268, 1284 Iodine K transitions, 414 JAI Java advance imaging, 988 Ionising radiation, 458, 459, 509 Jamming, 540, 1268, 1285, 1493 Ionization, 375, 376, 425 Japanese, 74, 133, 134, 150 IPT. See Image processing toolbox (IPT) Japanese industrial standard for colour, 150 IR. See Infra-red (IR) Jars, 523, 532–536, 1201–1220 IR band-pass filter, 224 Jaune (French), 44, 133 IR-blocking filter, 228, 289, 493, 494, 504, 1375, Java, 45, 49, 50, 52, 982, 983, 988–990, 1001, 1376, 1385, 1394, 1477, 1513, 1539, 1546, 1547 1033–1035, 1043, 1071, 1073, 1074, 1027–1028 IRC. See IR-reflective coating (IRC) – advanced imaging, 983, 1028 IR emissivity, 1427 – interface, 1074 IR flood-light, 2098 – programmers, 50 IR-free, 1541 – programs, 136, 154, 982 Iridescence, 122, 123 – standard edition, 982 Irises of human eyes, 798 – virtual machine, 982 IR LEDs, 2098 Java development kit (JDK), 988, 990 IR-reflective coating (IRC), 293 Jet engines, 1405 Irregularities, 1166 Jigs, 1417 Irregular shape, 1541 JIIA LE-001-2007, 452 Index 2239

JIIA LE-002-2008 lens-mount, 452 – deficiencies, 1439 JIS Z 8721, 150 – drive current, 42 Joint conditional probability density function, 618 – filament cooling, 552 Joint photographic experts group (JPEG) format, 911, LAN, 1421 914, 957, 960, 986, 1619, 1655, 1695, 1709, 1728, 1742, Language, 74 1752, 1786, 1796, 1799, 1858, 1859, 1864, 1872, 1900, – culture, 118, 133–134, 137 1910, 1935, 1953, 2126, 2127 Laptop computer display, 302 JPG, 986 Large area diffuse light source, 1224 JRE, 982, 983, 988 Large circle SE, 851 Jump edges, 657–659, 661 Large curved mirrors, 349 Just-in-time compliers, 982 Large-format lenses, 431 Large non-rectangular SEs, 899 K Large rectangular structuring elements, 879–880, 899 Kaleidoscope, 279 Largest blob, 1170 Kalman filter, 636, 637 Largest component, 993, 1001 Karhunen-Loeve expansion, 643 Largest intensity neighbourhood function, 582–583 KDP, 349 Largest internal circle, 816, 819, 2068, 2069 Keeping optics clean, 289 Largest 8-neighbour intensity, 719 Keyboard short cuts, 915, 916, 948, 949 Large telecentric optical systems, 216 Khoros, 983 Large throw scanner, 350–352 KISS principle, 58 Laser, 121, 321, 322 K-means clustered(ing), 996 – bore scanner, 1353, 1457–1458 Knoop, 177 – deflection system, 1520 Knots, 510 – diodes, 345, 631 Kodak flashpix, 986 – flying spot scanners, 40 Kodak gelatin filters, 444 – illumination, 332 Kramer’s equation, 512 – light-stripe generator, 1415, 1422, 1548 Kurtosis, 618 – pattern projector, 1353, 1458–1459 – printers, 340 L – radar, 626–633, 627, 630–632 ∗ ∗ ∗ L a b , 441 – range finder, 626 ∗ ∗ L a b colour space, 443 – range imager, 658 Labels, 1381, 1390, 1426, 1430, 1447, 1465, 1528, 1551 – scanners, 38–39, 43, 216, 322, 1353, 3D Labelling, 988 1450–1453 ∗ ∗ ∗ L a b model, 148 – stripe generators, 1459 Labour costs, 1166 Latency, 467, 702, 1104–1107, 1117, 1120–1122, 1129, LabVIEW, 1309, 1310, 1314 1134, 1309, 1311, 1313, 1489 – DLL interface, 1309 Lateral eyed animals, 111–112 – image acquisition, 1309 Lateral geniculate nucleus (LGN), 105 Lacquer, 172, 1342, 1364, 1376, 1394, 1403, 1427, Lateral shift, 610 1430, 1479, 1534, 1535 Lathe, 14, 62, 1363, 1453 Ladling molten metal, 1336 Law of reflection, 164 Lag, 372, 378, 379, 429 2-Layer model, 1097 Lake, 596, 601, 603, 726, 727, 750, 752, 763, 809, 812, 814, LCD display projector, 1362 822, 824, 825, 832, 864, 866, 1593, 1595, 1598, 1599, LCD displays, 276 1618, 1627, 1688, 1695, 1854, 1895, 1900, 1913, LCD filter, 441 2072–2074, 2076, 2083, 2085 LCD light switch, 1427 – bay, 2072, 2076, 2082, 2085, 2086 LCD modulators, 35 – centroid, 2072–2074, 2076 LCD optical modulator, 686 – diameter, 816 L cones, 130, 135, 136 Lambertian reflectance, 172 Lead, 413 Laminate objects, 1365 – box, 1503 Lamps (filament bulbs), 938 Lead iodide (PbI), 416 – ageing, 41, 42, 291, 494 Lead sulfide (PbS), 402 – brackets, 1299 Leaf green, 680 – brightness, 295, 300 Learned prototypes, 636 2240 Index

Learning, 1337 – assemblies, 289, 306–309 – colours, 138 – characteristics, 305 – difficulties, 1343 – drivers, 311 – QT, 2088 – illuminators, 35, 447 – rate, 1100 – light strip, 308 – rules for CC, 671, 688–690 – spectra, 303–305 Least-square, 781, 793, 799 – torch, 2088 – algorithm, 1609, 1699, 2071 Light gathering, 272, 276 – error, 643 Light gradient, 1246, 1247 – fit, 699, 1304 Lighting, 262, 265–267, 280, 1298–1300, 1302, – surface-fitting, 644 1305, 1314 Leather, 510 – conditions, 775 – cuttings, 1365 – direction, 1419, 1510 Leaves, 63, 67, 70, 77 – environment, 626 LED. See Light emitting diodes (LED) – at low angle, 57 Leeks, 63 Lighting and viewing methods (LVMs), 28, 35, 37–38, left/2, 1043, 1050, 1054–1056 57, 125, 128, 138, 161, 210, 213, 320–327, 905, 917, Left-limb-end, right-limb-end, 829 954, 971, 972, 1071, 1351–1560, 1783–1784 left_of, 1033, 1043, 1062 Lighting-viewing arrangement, 42, 51, 54, 1149, 2066 Left-Right, 374–375, 378, 430 Lighting-viewing conditions, 38, 54, 58 Legal, 1332, 1333, 1336 Lighting-viewing configurations, 27 – requirement, 509, 1294 Lighting-viewing subsystem (LVS), 320–321, 732, 768 Lemelson, 1332 Light leaks, 452 Lemon, 73, 119, 680, 683, 686 Light level variations, 1160 – yellow, 683 Light output, 290, 291, 293–295, 301, 311 Lemple-Zev-Welch (LZW) compression, 986 Light patterns, 1252 Length, 65 Light-pipe, 1381 Lens, 90, 91, 103, 110, 111, 161, 162, 171, 181, 185, 186, Light-proof enclosure, 1474 189–202, 209, 211, 213, 216, 217, 250, 252, 254, 257, Light-proof screen, 1489 258, 320, 322, 325 Light scattering, 162, 227 – distortions, 715, 775, 794, 1120, 1122, 1127 Light-section microscope (LSM), 1244, 1245 – fogging, 499 1253–1255, 1257 – holder, 251 Light-sensitive coatings, 39 – hoods, 183, 199, 253 Light-sensitive registers, 364–365, 377 – maker’s equation, 192 Light sensitivity, 96, 99, 112 – mount, 450, 452, 453, 503–504 Light-source, 4, 28, 37, 123–126, 131, 137, 140, 334, Lenslet, 271, 275, 277–279, 491 345, 1351, 1352, 1357, 1362, 1364, 1365, 1373, – array, 277 1383, 1389, 1394, 1401, 1403, 1407, 1424, 1427, Lenticular, 275, 277 1429–1431, 1437, 1441, 1446–1448, 1450, 1451, Lettuce, 63, 67, 69, 73 1467, 1481, 1482, 1487, 1491, 1492, 1508, 1510, 2-Level illumination pattern, 1435 1513, 1518, 1522, 1524, 1528–1529, 1534, 1536, Level-shifter, 392 1546, 1547, 1551 License plate recognition, 1086–1091 – ripple, 552 Lidar, 39 Light-stripe, 43, 1255 Life-time, 18, 37 – generator, 71, 1415, 1422, 1548 Light-absorbing backgrounds, 161 – triangulation, 71 Light-absorbing materials, 183, 253, 376 Light tent, 1381, 1491, 1493 Light-absorbing structures, 183, 253 Light transmission, 54 Light-collecting efficiency, 1371 Limb ends, 595, 599, 602, 603, 1051, 1052, 1062 Light-collecting power, 36 Limb-length of skeleton, 602 Light-control film, 1474, 1476 Limbs, 824, 865, 866 Light emitting diodes (LED), 37, 121, 125–127, 137, 162, Lime lights, 292 252, 277, 278, 287, 303–312, 322, 345, 1072 Limitations of TDI, 381–382 – arrays, 277, 304, 308, 312, 314, 488, 686, 1362, 1363, Limiting aperture, 193 1376, 1423, 1426, 1447, 1491, 1516, 1522, 1534, Limiting resolution, 420 1553, 1554 Limits on telecentric performance, 1159 Index 2241

Limits on weight, 55 Litter, 1334 Linear activation function, 1097 lm. See Lumen (lm) Linear classifier, 668, 669 Load cell, 1290, 1294 Linear conveyor, 488, 505–506 Loading, stored image, 1228 Linear convolution, 714, 716, 722 Loaf, 62–70, 80, 852, 854, 1339, 1466 – filtering, 582 – shape analysis, 854 Linear correlation, 1248 Local-area contrast enhancement, 742–743 – coefficient, 640 Local area histogram equalisation, 590, 591 1321–1322 Linear dimensions, 65–67 Local averaging function, 582 Linear discriminants, 50, 669 Local curvature, 736 Linear filter, 1124 Local defects, 36 Linear high-pass filtering, 544, 561 Local edge normal, 782, 784, 786 Linearity, 342, 350, 358, 378, 387, 463, 464 Local edge orientation, 779, 782, 784, 791 Linear local operators, 580–582, 587 Local filters, 1124–1125 Linearly polarised light, 234, 235, 236, 240, 1168 Local histograms, 1081 Linear polariser, 1168, 1169, 1535 Local intensity variations, 1319 Linear regression analysis, 2069 Localised light source, 920 Linear rescaling, 1481 Local maxima, 655, 707, 824, 825 Linear separation, 1081, 1082 Local minima, 1239, 1240 Linear structuring elements, 1327 Local operator, 578–580, 587, 588, 591, 595 Linear threshold, 546 Local peak, 783 Line-block filter, 1385 Local periodicity, 816 Line detectors, 332, 337, 346, 778–783, 786 Locates, 687, 688, 690–692 Linen, 177 Locating, 1333 Line of light, 338, 1443, 1448, 1459 – bubble, 920–926 Line of purples, 146 – defects, 1334 Line-pairs, 420, 421, 423, 1371 – features of interest, 926 Line-pass filter, 1385 – holes, 23, 835–838 Lines, 1592, 1610, 1617, 1622, 1636, 1644, 1651, 1652, – pads, 839 1662, 1666, 1673, 1696, 1705, 1707, 1709, 1712, – significant peaks, 781, 782 1722–1724, 1732, 1741, 1743, 1748, 1750, 1752, – straight, 780 1758, 1760, 1764, 1778, 1780, 1811, 1818, 1827, – surface features, 44 1828, 1831, 1837, 1838, 1845, 1857, 1896, 1911, Location, 774–799, 1245, 1246, 1248 1912, 1915, 1919, 1928, 1945, 1949 – of features, 803, 856 Line-sampling, 1285 Locus of circle centres, 782 Line-scan, 322, 326, 509, 511, 516–519, 532, 534, 540 Log, 700, 702, 703 – camera, 18, 20, 22, 30, 38, 39, 41, 55, 486–488, Logarithmic transformation, 544, 545–550, 556–560, 1203, 1204, 1352, 1365–1367, 1373, 1380, 1389, 562, 564, 575, 1234 1396, 1398, 1400, 1415, 1429, 1437, 1446, 1453, Logarithms, 45, 700 1455, 1456, 1459, 1467, 1470, 1487, 1490, 1498, Logical operations on colour, 680–681 1501–1503, 1509–1511, 1520, 1521, 1523, 1530, Logical operators, 986 1555, 2066 Logical reasoning, 683 – rates, 428–429 Logical union colour sets, 680, 685 – sensors, 378, 379, 398, 399, 402, 405 Logistic activation, 1097, 1100 Line segment, 776, 777, 780, 781, 1263, 1268, 1272–1275 Log transformation, 1087 – detection, 1266, 1272, 1275 Log-transformed image, 1234 – detectors, 777, 1272–1274 Long axis, 2072 – masks, 777 Long focus optical system, 1353, 1460–1461 Linked levers, 70 Long-integer, 701 Linux, 1028 Longitudinal line localisation, 780–781 Liquid crystal display (LCD), 142, 154 Longitudinal profile, 780 – projectors, 1471 Long-pass Liquid crystal light valve, 125, 1411, 1469, 1472 – filter, 127, 128, 222, 483, 1385 Liquid droplets, 171 – interference filter, 220 Liquorice allsorts, 2088, 2092, 2099 Long-term, 552 Lithium, 419 – light change, 1163 2242 Index

Long thin object, 1383, 1384, 1463, 1514, 1515, 1518 LUT. See Look-up table (LUT) Long-wave infrared (LWIR), 403–406 Lux (lx), 286 Look-up table (LUT), 44, 45, 553, 556, 564, 673, 677, LVDS. See Low-voltage differential signalling (LVDS) 678, 692, 700, 701, 709, 713–715, 721–723, 734, LVMs. See Lighting and viewing methods (LVMs) 735, 741, 744, 751, 786, 791, 875, 876, 878–882, LVMs catalogue, 38 890, 900, 1107, 1118, 1123, 1124, 1127, 1128, LVS. See Lighting-viewing subsystem (LVS) 1267, 1302, 1305, 1436, 1467 LWIR. See Long-Wave Infrared (LWIR) – implementation, 876, 880–882, 890 lx. See Lux (lx) Loop calibration, 1304, 1315 Looping feedback, 987 M Loops, 47 Machined components, 1355, 1405 Loose glass, 1202, 1220 Machined metal, 57 Loose wires, 13, 52, 510, 853, 1558 Machine learning, 1033 Loss of integrity, 63 Machine parts, 1375, 1405, 1463, 1493, 1497, 1524 Loss of synchronisation, 1314 Machine vision, 1–58, 91, 97, 107, 114, 1262–1264, Loud speaker, 1532, 1533 1281, 1285 Louvres, 1381 – Application Requirements Check List, 2002 Low-angle, 1165–1174 – solutions, 983, 984 – illumination, 2066 – system design questionnaire, 25, 38 – illumination (grazing), 1319, 1329 Machine vision questionnaire (MVQ), 1071, 2002–2021 – ring lights, 1509, 1535 Macintosh computer, 2128 Low-cost circuit, 708 Mackerel, 110 Low-cost gauging, 1138 Macro lens, 1476, 1543, 1546 Low-definition range measurement, 1463 MAF. See Mean angle feature (MAF) Lower visual field myopia, 111 Magenta, 672 Low-frequency components, 546 – line, 439 Low-level control, 1112 Magnesium, 519

Low-level image, 43, 51, 827,1104, 1111, 1116 Magnesium fluoride (MgF2), 175, 180, 184, 185 Low-level processes, 544, 634–635 Magnetic clamps, 1299 Low-level signals, 464 Magnetic fields, 39 Low-level vision, 1263 – mapping, 687 Low-light levels, 90, 98, 108, 358, 397, 402 – vector (h-vector), 162 Low-light-level SWIR sensors, 402 Magnetic-fluorescent ink, 30, 1336, 1391 Low-noise cameras, 549, 558 Magnetic gripper, 929, 930, 938, 939, 1722, 1724 Low-pass, 860 Magnetic particle, 1391, 1554 – blurring, 713, 737 Magnetic particle indicator, 30, 1336 – filter (blurring), 314, 316, 582, 597, 598 Magnetic recording media, 54, 1450 – filtering, 47, 580, 883, 1601, 1630, 1661, 1727, Magnetic sensing, 1312 1750, 1847 Magnetic tape, 1534 Low-precision measurement of range, 44 Magnification, 193, 210, 232, 261–262, 264, 268, Low pressure mercury lamp, 126, 291 269, 277 Low pressure sodium lamp, 125, 291, 314 – depth of field, 262, 265, 267, 268 Low spatial frequencies, 544 – equation, 210 Low-tolerance manufacturing, 64 Magnified algorithm, 612 Low-tolerance shape-measurement, 1462, 1464 Magnifying one image axis, 1353, 1462–1464 Low-voltage differential signalling (LVDS), 479, 500, Mahmoodi’s algorithm, 888 1110, 1130 Main lens, 1351, 1544, 1546 L-shaped, 1451, 1555 Maintenance, 1298, 1311, 1313 LSM. See Light-section microscope (LSM) Majority Lumen (lm), 286, 306, 307 – filter, 821 Luminaire, 288, 289, 313 – voting, 598, 819, 840, 852, 854 Luminosity, 334, 345 Male (external) screw threads, 23, 833 Luminous efficacy, 286, 301 Malformations, 510, 1202 Luminous flux, 286, 301 Malformed loaves, 69 Luminous intensity, 286 Malus’s law, 236, 237 Index 2243

Mammals, 91, 97, 108, 109, 113 1685, 1686, 1694, 1704, 1705, 1709, 1741, 1748, Mandarin, 133 1770, 1825, 1840, 1853, 1858, 1872, 1917, 1926, Manhattan (city block) distance, 688, 745–748, 751 1953, 1959, 2071, 2079, 2126–2129 Manipulating parts, 15 – debug tools, 916, 949 Mantis, 90, 109 – history window, 916, 949 – shrimps, 33, 90 – scripts, 909, 911–914, 917, 951 Manual classification, 1304 – search path, 2088 Manual counting, 1232 MATLAB Image Acquisition Toolbox, 2126 Manual inspection, 54 Matrix, 716, 717, 719, 740 Manual measurements, 1232 – aspect ratio, 456 Manual methods, 1232 – calculations, 52 Manufactured food products, 32, 120 Matt black, 183, 253 Manufacturing – paint, 183, 253 – industry, 4, 5 Matt opaque objects, 1352, 1365–1367 – metal components, 1156 Matt surface, 172 – parts, 633 MAX487, 1311 – plant, 1531 Maxbrite coating, 207, 208 – processes, 4, 15, 27, 32, 50 Maximal clique, 1268, 1270, 1271, 1285 Map of Britain and Ireland, 598 Maximally connected pixels, 620 Mapping function, 44 Maximindist, 671, 691, 693, 694 Mapping range, 1464 Maximin distance, 671, 693 Mapping range polychromatic light, 1353, 1464–1467 Maximising image contrast, 69 Marble tiles, 63, 70 Maximum clique, 795–797 Maritime light-houses, 276 Maximum distance, 649 Marsupials, 131 Maximum (MAX) function, 859 Mask, 776, 777, 784, 785, 792, 804, 828, 837, 855, 860, Maximum intensity, 589, 614 862, 864, 1265–1267, 1272–1274, 1285, 1362, 1365, Maximum likelihood (ML), 1086, 1087 1381, 1396–1398, 1427, 1459, 1470, 1479, 1495, Maxwell triangle, 143, 671 1507, 1551, 1555 MCT, 403–405 Masked back-lighting, 1365 Mean angle feature (MAF), 648–653 Masking, 511, 986 Mean curvature, 635 – algorithm, 1225 Mean intensity, 589 7Â7 Masks, 1272 Mean of means, 1125 Masonry, 1461 Measurement Mass attenuation coefficient – accuracy, 36, 1142, 1146 Mass produced food items, 62 –3D Match colours, 4 – of variability, 66 Matched filtering, 792, 797 Measures representing texture, 80 Match graph, 794–796 Measuring direction, 1237 Match-stick figures, 822, 1768, 1769, 1796, 1883, Measuring distance, 744–752 1900, 1932 Measuring light, 285–287 Material-feed hoppers, 64 Measuring parameters, 1333, 1338 Material removal, 33 Measuring range, 1353, 1467–1471 Materials engineering, 17 Measuring refractive index, 1472–1474 Materials science, 118 Measuring thickness, 1353, 1471–1474 Material types, 178–183 Meat, 510, 524 Mathematical morphology, 803, 804, 850, 1156, – pies, 63, 67 1160, 1224 Mechanical accept/reject devices, 540 Mathematical notation, 50 Mechanical characteristics, 176 Mathematics, 698, 699, 704, 707, 745 Mechanical engineering, 18, 27, 982 MATLAB, 48–50, 52, 667, 668, 905, 906, 908–912, Mechanical handling, 18, 19, 35, 46, 56, 67, 68, 70, 914–917, 936, 939, 940, 945, 946, 948, 949, 323, 509, 538, 540, 2064, 2070 951–953, 961–963, 966, 968, 974, 976, 978, 983, Mechanical screens, 1291 1029, 1055, 1059–1062, 1071–1075, 1148, 1601, Mechanical shock, 457 1630, 1636, 1637, 1641, 1651, 1661, 1668, 1678, Mechanical shutter, 369, 386, 390, 391 2244 Index

Mechanical sub-system, 539 MgF2 coating, 249 Mechanical typewriter, 817 Mica, 238 Mechanised harvesting, 1304 Micro-ALIS, 28 Medial axis transform, 599, 750 Microbiological hazard, 539 Median filters, 47, 314, 316, 583, 585, 598, 854, 855, Micro blaze, 1115 885–889, 916, 957, 1276, 1277, 1600, 1649, 1667, Microbolometers, 403–406 1705, 1720, 1792, 1851, 1880, 1886 Microchannel plate, 630 Medical dressings, 54 Micro-controller, 388, 460, 461, 465, 942, 1310, Medical image sequences, 986 1311, 1313 Medicine, 17 Micro-electronic devices, 1544 Membership value, 891, 892 Micro-focus, 515, 516 Membrane mirrors, 1531–1532 Micro-focus X-ray, 515, 529 MEMS, 403 Micro-Fresnel lenses, 277 Meniscus, 1214, 1215 Microhardness, 177 – lens, 189, 191 Micro lenses, 35–36, 260–280, 376, 383–384, 417, Mental attitudes, 57 432, 434, 452, 473

Mercuric iodide (HgI2), 416 Microlenticular array, 277 Mercury, 219, 1553 Micro-louvres, 1353, 1474–1475 – arc, 411 Micrometer mounts, 252, 253 – discharge lamps, 37 Micromirrors, 1362, 1471 – lamp, 125, 127, 291, 297, 408 Micron millennia, 899 Mercury cadmium telluride (HgCdTe), 403 Micro optics, 271–279 Merge sort, 703 Micro-organisms, 39, 56 Merging colours, 672 – attack, 72 Meringues, 63 – contamination, 72 Meta-bays aspect ratio, 2083 Microphony, 295 Metal, 1358, 1359, 1364, 1365, 1375–1377, 1389, 1391, Microprobe, 1545 1394, 1395, 1401, 1403, 1427, 1430, 1435, 1448, 1477, Micropropagation, 71 1479, 1481, 1491, 1493, 1497, 1501, 1513, 1534, 1544, Microscope, 1253, 1255, 1257, 1545 1553, 1555 – slide, 1400 – cam, 1699 Microscopic Fourier analysis, 1353, 1476–1477 – casting, 930 Microscopic images, 633 – clips, 520 Microscopic surface defects, 1476 – components, 1593, 1623, 1633, 1653, 1691, 1919 Microsoft, 141 – halide, 314 – excel, 878 – objects, 1594, 1599, 1799, 1807, 1831 Microstructure, 839 – parts, 1620, 1690, 1700, 1768, 1785, 1795, Microstructured quantum wells, 405 1883, 1935 Microwaves, 18, 27, 43, 168, 687 – stampings, 32, 931, 2069 Mid-points, 784, 787, 788, 790 – surfaces, 1319 – of horizontal circle chords, 784 Metallic coatings, 184, 204 Mid-wave infrared (MWIR), 403–404 Metallic ND filters, 227 Mie scattering, 172 Metallised mylar film, 213 Migraine, 20, 288, 303, 305, 1411, 1506, 1522 Metallurgical, 1544 – attacks, 1487 Metal-oxide-semiconductor (MOS), 361, 363, 383, Military applications, 17 394, 396, 402, 490, 491 Milking, 1548 – transistor, 363, 402 Millimetre-level precision, 44 Metal-working tools, 1544 Minced meat, 72 Metamerism, 126,127, 134–137, 304 Mineral oil, 175 Meta-meta-concavities, 2083 Miniature cameras, 1379, 1384, 1389, 1410, 1478, Metric, 699, 745, 746, 748 1510, 1548 Metrology, 1363, 1365, 1450, 1529 Minimal area hexadecagon, 760 M-Files, 906, 911–917, 945, 946, 948, 964–978 Minimal number of dimensions, 643 4M Filter, 885–886, 898 Minimal octagon, 759 M-functions, 911, 912, 917, 938, 945, 1045, 1073, Minimal ROI, 924 1074, 1208 Minimization techniques, 635 Index 2245

Minimum (MIN), 859 Mole, 107 Minimum-area enclosing rectangle, 758–761, 924, 2067 Mollusks, 133 Minimum-area octagon, 758–759 Molten glass, 33, 562 Minimum bounding, 758, 761 Molten solder, 72 Minimum bounding circle, 1369, 1370, 2068 Molybdenum, 512, 519 Minimum deviation condition, 229 Monadic operators, 567 Minimum enclosing rectangle, 603, 753, 1368, 1369 Monadic pixel-by-pixel operator, 573–576, 590 Minimum-maximum function, 893 Monitor coolant, 1335 Minimum of row maxima, 874 Monitoring, 1363, 1466, 1498, 1501, 1519, 1551, 1553 Minimum-size parameters, 55 – leaks, 1335 Mining, 62, 66, 80 – motion, 1519 Minkowski r-distance, 746 – processes, 15 3-Mirror assembly, 1496 – set-up, 1606 Mirror-based optical systems, 213 – stacking, 1335 Mirror chip, 1469 – staff activity, 1343 Mirror equation, 210 Monochromatic light, 38, 272, 1244, 1385, 1427, 1437, Mirror-like surfaces, 36, 266, 1245, 1376, 1403, 1430, 1467, 1471, 1472, 1530, 1548, 1551 1534, 1536 Monochromatic x-ray laser, 537 Mirrors, 65, 81, 320, 322, 325, 326 Monochromator, 121, 122, 686 Misalignment, 1156, 1270, 1555 Monochrome, 569, 572 – of X-ray shadows, 531 – cameras, 483, 504 Miscounting, 1314 – images, 44, 46, 567, 572, 584, 615 Mis-focussing, 34 Monocular visual fields, 112 Misinterpretations of visual scenes, 105 Monolithic CMOS sensors, 398 Mis-printed boxes, 120 Monotonic function, 2067 Mis-shapen, 1222 Moonless clear night, 286 Missile guidance, 17 Moore’s law, 1105 Missing boundary segments, 1231–1241 Morphing, 57 Missing machining steps, 53 Morphological closing, 545, 1087, 1234, 1252, 1257 Missing parts, 1555 Morphological filter/processing, 544, 545, 554, 555, Mist, 81 562, 1119, 1222, 1124, 1234, 1305 Mixing light of different colours, 306 Morphological image processing, 46–47 MMB architecture, 941 Morphological opening, 1252, 1256 Mnemonic function name, 669, 905 Morphological operators, 47, 588, 605, 608, 609 Mobile robots, 213, 218, 1080 Morphological techniques, 1252 MODBUS, 471 Morphology, 42, 44, 46–48, 50, 53–56, 522, 524, 534, Model aeroplane, 930 604, 610, 774, 803, 804, 813, 816, 817, 821, 824, Model-based inference technique, 1267 827, 833, 836–838, 840, 842, 844–850, 853–856, Model fitting, 2067, 2068 859, 860, 862, 909, 923, 1216, 1217, 1252–1259 Modelling, 1294–1297, 1314 Most distant edge points, 2072, 2073, 2077 Modelling X-ray absorption, 522–526 Moth, 110 Model-parameter-based approach, 636 Motion, 118, 132 Models for vision, 33, 90 – analysis, 1518 Mode switching, 953 – blur, 1223, 1518, 1519 Modified quadratic discriminant function – control, 1254, 1255 (MQDF), 1086 – parameters, 1263 Modified Roberts operator, 583 – perception, 94 Modulated image intensifier, 630 – sensitivity, 94 Modulated laser beam, 626 Motivation, 16 Modulated synchronously, 630 Motorcycle chain, 264 Modulating frequency, 626 Motorised filter wheels, 251, 1353, 1477–1478 Modulation noise, 434 Motorised linear translation stage, 251 Modulation transfer function (MTF), 201–202, 256, Motorized lenses, 464 341, 342, 351, 421, 492 Mottled background, 811 Modulus function (|X|), 45 Mould, 64, 65, 76, 77 Moire´ patterns, 43, 1352, 1355–1356, 1448, 1474, 1501 Moulded glass, 1397 2246 Index

Moulded glassware, 54, 1202 Multiple shadows, 1354, 1510–1512 Mouldings, 1355, 1359, 1365, 1372, 1391, 1430, 1434, Multiple solutions, 1032 1497, 1501, 1524 Multiple spots, 1458 – castings, 1359, 1372, 1434 Multiple transport registers, 374 – faults, 1202 Multiple views, 1354, 1481–1482 – machines, 55 Multiplexers, 1008 Moulds, 1275, 1284, 1285 Multiplexing, 393 Mountain range, 845 Multiplication, 45 Mounting, 18, 28, 450, 451 Multiplicative correction, 545 – optical components, 250–252 Multiply, 577, 986, 1004 – rail, 251 Multiplying two images, 579 Mouth bottle, 1450 Multiplying two numbers, 699, 700 Moving chess pieces, 1064 Multi-processor configurations, 15 MPEG video(s), 1080, 1094 Multi-purpose lens, 1205 MTF. See Modulation transfer function (MTF) Multi-ring, 1373 Mud, 1285 Multi-sensor feed-back, 67 Muff transform, 780 Multi-shape application, 2064 Multi-arm image conduit, 1353, 1478–1479 Multi-source front lighting, 1476 Multi-axis robots, 67, 251 Multi-spectral, 322 Multi-branch search tree, 961 Multi-spectral image, 128, 572, 686–687 Multi-camera, 1353, 1415, 1479–1480 Multi-spectral image sensing, 1354, 1482–1485 Multi-camera structured lighting, 1354, 1480–1482 Multi-tap, 375 Multi-channel pixel, 360 Multi-user version, 948 Multi-class problem, 1081 Multi-variate description, 1319 Multi-coloured objects, 1482 – of the texture, 842 Multi-colour lighting, 77, 1481, 1536 Multi-variate normal density, 1085 Multi-component products, 1555 Multi-view stereo imaging, 1354, 1485 Multi-disciplinary, 5, 16, 27 Mummies, 510 – engineering, 1314 Munitions, 1555 – subject, 16 Munsell book of colour, 150 Multi-element, 193, 195, 217 Munsell colour solid, 151, 152, 153 – detectors, 337 Munsell colour standard, 149–154 – LED array, 312 Munsell Hue, 151 – vector, 50, 57 Munsell system, 149–151, 153, 154 Multi-faceted mirror, 1453 Munsell value, 151 Multi-function development tool, 939 Musical instruments, 1532 Multilayer antireflection coating, 188 Mutexes, 1112 Multilayer dielectric coatings, 185, 204 Mutli-layer dielectric coating, 245 Multilayer dielectric film, 205, 218, 1535 MV generalist, 19 Multi-layer neural networks, 669 MVQ. See Machine vision questionnaire (MVQ) Multi-layer printed circuit board, 1558 MWIR. See Mid-wave infrared (MWIR) Multi-LED, 305 Mylar, 175, 210, 213 – assemblies, 289, 291, 306 Mylar film, 1359, 1531 – light sources, 1529 – sources, 305 N Multimedia applications, 1140 Nails, 1383, 1463 Multi-packs, 510 Naive image analysis techniques, 56 Multipart SE, 818 Naive search algorithm, 2080 Multi-platform, 982, 984 Names of colours, 34, 44 Multiple filter holder, 251 Naming of certain colours, 74, 75 Multiple internal reflections, 1474 Naming of colours, 73–75 Multiple laser stripes, 1463 Narrow-band filters, 218, 220, 686 Multiple parallel stripes, 1458 Narrow-band LEDs, 304 Multiple scan lines, 353 Narrow-band lighting, 228, 1426, 1543 Multiple scattering, 173 Narrow-band of light, 1255 Multiple SEs, 873, 879 Narrow band-pass filters, 223, 666, 1385, 1485 Index 2247

Narrow spectral band, 38 4-Neighbours, 573, 720, 746, 748, 806, 807 Narrow streaks, 812, 852 8-Neighbours, 573, 595, 600, 806, 807, 819, 822, National instruments frame grabber, 1309 823, 865 Natural contaminants, 1555 NEMA, 988 Natural illumination, 1527 Neodium magnet, 1312 Natural language, 49, 707, 1032, 1033, 1055, 1058, Neon, 1244 1062–1071, 1073 ‘‘Neon’’ displays, 37, 297 Natural light, 42, 58, 322, 1352, 1381, 1382, 1437 Neural networks, 14, 50, 668, 669, 686, 692, 1080, 1083, Natural light/sun-light, 1352, 1381 1086, 1096–1101, 1263, 1337. See also Nearest Natural materials, 62, 1340 neighbour classifier (NNC) Natural objects, 6, 32, 44, 57, 62–69, 72, 73, 76, 80, Neurons, 1096–1099 679, 680, 1485, 1529, 1548, 1559 Neutral-density (ND) filters, 163, 1477, 1484 Nature of acceptable solution, 16 Neutron radiography, 418 Nature of colour, 34, 44 Neutrons, 27, 180, 418, 419 Navigation of autonomous vehicles, 633 Newton’s, 119, 138, 213, 229 N-dimensional space, 686 Newton telescope, 213 Nearest neighbour, 679, 694, 1124 Nickel, 177, 183, 212, 245, 253 – classification, 749 Nicol prism polariser, 240, 241 – decision rule, 691 Nightglow, 403 – learning, 50 Nightshot mode, 2098 Nearest neighbour classifier (NNC), 50, 668, 669, 687, Night-vision, 376, 404 690–693, 1092–1094 Nikon F, 452, 453 Near infra-red (NIR), 40, 127, 163, 205, 207, 303, 376, 9Â9 ‘circle,’ 812 394, 400–402, 447, 452, 483, 504, 1203, 1280–1282, NIOS II, 1115 1376, 1381, 1385, 1394, 1433, 1482, 1485, 1528 NIR. See Near infra-red (NIR) – blocking filter, 505 NMOS, 363, 382 – imaging, 504–505 NNC. See Nearest neighbour classifier (NNC) – waveband, 1539 Nocturnal mammals, 109 Nearly circular object, 756–757 Nodal plane, 193 Nearly linear arrangement, 613 Nodding mirror, 627–629 Near neighbours, 749, 751 Noise, 98, 530, 540, 583, 584, 586, 587, 613, 614, 618, Near specular illumination, 1353, 1479–1480 635, 647, 648, 650–661, 1234, 1239–1241, 1262, Near-ultraviolet (NUV), 109, 127, 163, 377, 394, 408, 1263, 1266–1268, 1272, 1279, 1282, 1285, 1589, 483, 504, 1381, 1385, 1482, 1485, 1528 1601, 1623, 1630, 1649, 1662, 1667, 1674, 1700, NeatVision, 704, 862, 981–1029, 1059 1705, 1727, 1743, 1748, 1760, 1772, 1778, 1785, – developer’s interface, 990 1792, 1844, 1847, 1851, 1867, 1880, 1886, 1915, – developer’s plugin, 988, 991 1918, 1951 – development environment, 48–49 – filtering, 1239 – environment, 982–985, 1028 – generators, 986 – GUI, 984 – pixels, 1124 – library, 990, 1028 – reduction, 47, 817, 821, 858, 1258, 1623, 1700, – visual program, 988, 997, 1001 1754, 1766, 1771, 1777, 1778, 1851, 1867, 1913, Neck-shoulder region of bottle, 918, 1208, 1209, 1211, 1914, 2065 1214, 2071 – reduction filtering, 1219 Needles, 1463 – removal, 681, 1000, 1205 Needlescopes, 1405 – smoothing, 393 Negate, 575 Noisy background, 799 Negating a binary image, 592 Noisy edge, 2070 Negative light, 437 Noisy monochrome image, 46 Neighbourhood, 582, 583, 597, 598, 608 Non-coherent light, 287 – coding scheme, 709, 714 Non-compressed bitmap, 986 – operations, 804, 810, 813, 816 Non-contact sensing, 509 – processing, 463 Non-convex, 873 8-Neighbourhood, 747, 748 Non-ferrous, 1352, 1391–1394 Neighbouring surface normals, 647–648 Non-Gauging applications, 266 Neighbours, 1236 Non-homogenous beam, 526 2248 Index

Non-homogenous surface finish, 1481 Nuts, 63, 67, 76 Non-industrial applications, 15–18 NUV. See Near-ultraviolet (NUV) – using, 1332 Nyquist limit, 420, 422, 1105, 1150 Non-insect contaminants, 1275–1279, 1285 Non-insect detection, 1275 O Non-integrative feature-detection, 860 O(N), 702, 703 Non-interlocking shapes, 1493 Object distance, 202, 210, 211 Non-isotropically shrunk/extended blob, 803 Object distortion, 1267, 1268 Non-isotropic filtering, 853 Object/feature orientation determination, 761–764 Non-isotropic point source, 1363 Object height, 210, 211 Non-lidded tin loaf, 964 Object identification, 856 Non-linearity, 358, 369, 434, 464 Object location, 46, 774–799, 1264–1268, 1279, Non-linear local operators, 582–587 1280, 1285 Non-linear neighbourhood operator, 584, 816 Object pixels, 805, 808 Non-linear stretching, 1481 Object pose, 824 Non-metallic materials, 1535 – estimation, 636 Non-parametric approaches, 1091–1093 Object position, 2065–2072 Non-paraxial rays, 267, 1364 Object presentation, 38 Non-separable, 721 Object recognition, 466, 633, 636 Non-square pixels, 482 Object representations, 633, 635 Non-standard scan patterns, 1373, 1375 Object scrutiny, 1264 Non-uniform glass thickness, 561 Object silhouette, 2068, 2070–2073 Non-uniform illumination, 1246, 1247 Object space, 1157–1159 Non-uniformity, 494, 496 Object space telecentric (OST), 260, 267 Non-zero value, 805 Object variability, 51 ‘‘Normal’’ (i.e., ‘‘good’’) class, 689 Oblique lighting, 22 Normal incidence, 165, 184, 186, 236 Oblique viewing, 1359, 1462 Normalisation, 573, 580, 581, 586, 716, 718, 775, Observer metamerism, 135 1577, 1641, 1739, 1806, 1933, 2060 Obstructions in gangways, 1335 Normalise, 1616, 1617, 1622, 1630, 1693, 1806, Obvious technique for OCR, 828 1831, 1851 Occam’s Razor, 58, 1341 Normalised spectral response, 130 Occlusion, 43, 46, 71, 780, 781, 793, 798, 1267, Normalises position of blob, 910, 952 1268, 1275, 1285, 1464, 1481, 1498, 1523, 1524, Normalising constant, 1630 1527, 1528 ‘Normal’, texture, 839 OCR. See Optical character recognition (OCR) Normal viewing, 1354, 1479, 1480, 1485–1487 Octagonal pixels, 396 ‘Not acceptable’ textures, 840 Octagonal structuring element, 562 Notation, 1577 Octagons, 758 Notches, 465, 1138 ODBC interface, 1174 Notch filters, 225 Odd/even pixel nonuniformity, 1258 Novice users, 915, 948, 986 Odd-numbered code, 601 NP-complete, 796 Offset, 364, 375, 378, 381, 389, 392, 396, 429, 432, NTSC television standard, 149, 455, 457, 468, 433, 463, 464 479, 480 – error image, 558 Nuclear installations, 1410 – errors, 545, 548, 557, 558 Nuclear radiation, 516, 1501, 1504, 1559 – noise, 433 – sterilisation, 1559 ‘‘Off the shelf’’ LEDS, 127 Number of bits, 570 Oil coiled x-ray tube, 513 Number of blobs, 822 Oil leaks, 39 Number of lakes, 822, 832, 864 Omni-directional illumination, 77, 78, 310, 1354, 1448, Number of pixels per unit area, 620 1491, 1551 Number of white neighbours, 819 On-chip functions, 388–394 Number of white pixels, 840, 863, 1043, 1045, 1046 On-chip memory, 1108, 1111, 1113, 1125, 1126 Number-sorting algorithms, 702 – buffers, 1113 Numeral ‘‘2,’’ 587, 588 One-class learning rule for a CC, 671, 690 Numerical operators, 988 One-dimensional decomposition, 899 Index 2249

One-dimensional discrete Fourier transform, 615 Optical glasses, 176, 178, 192 One-dimensional erosion, 1256 Optical-grade glasses, 178 One-dimensional morphological filter, 609 Optical gratings, 178 One-dimensional morphology, 1142 Optical illusions, 132 One-dimensional signals, 1252, 1256 Optical interactions, 431–432 One-dimensional transformations, 1126 Optical interference, 22, 35, 43, 122, 186, 240, One-line sensors, 378–379 425, 1551 One-pass operations, 845, 846 Optically isolated inputs, 1141 One-to-one relation, 777 Optically tooled bowl feeder, 1354, Onion peeling, 600, 748, 750–752, 824 1491–1493, 1501 On-line inspection, 26, 53, 702 Optical materials, 173–183, 256 Opacity, 163 Optical mounting system, 251 Op-amp circuits, 557 Optical noise, 289 Opaque film, 1389 Optical nonuniformity, 1222 Opaque impurities, 1454 Optical overload, 39, 920 Opaque material, 171, 174 Optical power, 192 Opaque non-reflective, 1365, 1366 Optical processing, 35 Opaque particles, 171 Optical proximity sensor, 1513 Open and closed rectangles, 47 Optical resolution, 492, 493 Open-circle SE, 839 Optical shutter, 1411 Opening, 604, 606 Optical signal conditioning, 35 Open loop calibration, 1304 Optical signal generator, 35 Operating costs, 52 Optical spectroscopy, 396 Operating frequency, 301 Optical structures, 383–384 Operating QT, 916, 944, 949–955 Optical sub-system, 11, 28, 40, 42 Operating range, 179 Optical transfer function (OTF), 202 Operating voltages, 39 Optical windows, 180, 246–247, 499, 1490, Operators 1542, 1551 – ‘‘!’’, 1041 Optic nerve, 95, 98, 103, 107 – ‘‘;’’, 1063 Optics, 6, 7, 16, 18–20, 27, 34–35, 38, 42, 52–54, 57, – ‘‘|’’, 1063 58, 118, 982, 1314 – #, 1075–1078 Optimal, 16, 19, 40, 45, 707, 752, 769 –7Â7, 581 – illumination, 68 –3Â3, 579, 581, 649, 656 Optimality, 698 Operator safety improvement, 1333 Optimal lighting, 71, 77 Operator skill level, 16 Optimal-packing, 879 Optical absorption, 400 Optimal solution, 698, 1328 Optical axis, 189, 191, 194, 197, 198, 211, 212, 239, 242, Optimal thresholding, 1171 252, 253 Optimum contrast, 1303 Optical baffling, 431 Optimum dress sizes, 340 Optical character recognition (OCR), 816, 828–830, Optoacoustic, 332, 348–349 1049, 1506 Opto-mechanical scanner, 1496 Optical coatings, 123, 183–189, 229, 239, Optometrist’s eye chart, 94 256, 293 Optomotor reflexes, 103, 111 Optical colour filters, 218–220 OR, 577, 591, 592 Optical components, 65, 81 Oranges, 63, 435, 436, 679, 680, 686 Optical crown glass, 178, 208 Orange-yellow, 680, 681 Optical ‘‘cut,’’ 1255 O-ray, 238, 240–243 Optical density, 162–164, 228 Ordinary wave, 238 Optical efficiency, 342 Organic materials, 407, 418, 1424 Optical fibres, 277 Organic scintillators, 419 Optical fill-factor, 277 Orientation, 7, 14, 30, 46, 47, 52, 55, 520, 535, Optical filters, 35, 72, 124, 127, 128, 140, 218–220, 483, 536, 539, 587, 603, 614, 620, 809, 829, 842, 849, 485, 666, 673, 1354, 1376, 1383, 1394, 1458, 1477, 850, 856, 857, 859, 1043, 1051, 1052, 1148–1151, 1489, 1547, 1553 1154, 1210, 1291, 1598, 1599, 1616, 1617, 1655, Optical ‘‘front end,’’ 35, 160 1669, 1702, 1707, 1719–1721 2250 Index

– size, 104 Panoramic view, 93 – of straight line, 768 Pantone, 141, 143, 153–154 O-rings, 1453, 1496 Pantone matching system, 153, 154 ORing two images, 592 Paper, 15, 19, 38, 39, 47, 54, 1358, 1359, 1389, 1395, 1400, Orthogonally polarised images, 1354, 1535–1537, 1539 1423, 1424, 1426, 1436, 1464, 1479, 1513, 1527, 1528, Orthographic projection, 788, 791 1534, 1535 Oryzaephilus surinamensis, 1273 – label, 1426 Oscilloscope cameras, 1432 – texture, 619 OSMIA functions, 988 Paraboidal mirror, 212, 217 OST. See object space telecentric (OST) Parabolas, 791, 798 OS X, 2128 Parabolic mirrors, 211–218, 309, 310, 349, 350, 1358, O(N2) time, 754 1450, 1453, 1487, 1488, 1532, 1551 Otsu’s technique, 1141 Paradox, 1174 Otsu’s thresholding method, 1160 Parallax, 36, 41, 44, 338, 382, 508, 526, 531, 1206, Outer edge, 850 1523, 1529 Outliers, 671, 675, 693, 694, 781, 792, Parallel, 700, 701, 704, 712, 720, 728, 730–732, 758, 793, 799, 1304 759, 762, 918, 942–944, 1032, 1204, 1207, 1214 Output parameters, 913 Parallel algorithms, 1104, 1111 Oval (egg-shape), 787 – in hardware, 1104 Over-complicated image processing, 20 Parallel chords, 789, 790 Overdriving, 303, 305 Parallel decomposition, 607, 608 Overhead camera, 928, 929, 1148–1151, 2054, 2060 Parallel I/O ports, 942 Overhead projector, 265, 273 Parallelisable algorithm, 1105, 1121, 1134 Overhead view, 52 Parallelism, 1104–1107, 1111, 1113, 1115–1117, 1121, Overlapping, 767 1133, 1134 Overlapping fields of view, 96 – in image processing, 1105–1107 Over-optimistic expectations, 58 Parallel jaws, 2060 Over-size image, 431 Parallel light stripes, 854 Over-voltage tolerance, 451 Parallelogram image warping, 35 Oxidation, 72, 77 Parallel pencil of beams, 349 Parallel processing, 96, 104–105, 709, 731, 732, 768, 1104 P Parallel rays of light, 1158 Package, 1290–1295, 1305, 1307–1309, 1315 Parallels desktop, 2128 Packaging, 13, 15, 54, 63, 65, 70, 120, 123, 510, 540, 650, Parallel stripes, 1458, 1464 659, 1342, 1381, 1482, 1528 Parameters, 905, 906, 909, 912, 913, 918, 919, 922, Packing, 1334 926–929, 937, 938, 946, 950, 951, 958 – 2D shapes, 1043 – setup panel, 1228 Padding, 879 – space, 1266, 1267, 1270, 1271 Pads, 924, 933, 938, 957, 959, 961 – space crossing, 778 Painted aretefacts, 66, 1339 Parametric eigenspace, 637 Painted/lacquered surface, 122 (m c) Parametrisation, 779 Painted slates, 54 (r y) Parametrisation, 778 Painted surface, 173, 1376, 1394, 1403, 1534, 1535 Parametrising ellipse, 786 Paintings, 510, 1358, 1503, 1540, 1548 Parasitic worms in fish, 1559 Paints, 122, 131, 139–141, 150, 152–154, 401, 407, Paraxial, 189, 191, 193, 196, 216, 217 1342, 1389, 1395, 1427, 1442, 1454, 1493, 1501, – lines, 1453 1535, 1551 – rays, 1380, 1532 Paintwork, 57, 839, 1381, 1430, 1535 Parsing, 1064–1065, 1067–1069, 1080 Pairings, 606 Part handling, 1166, 1167 Pair of mirrors, 1297 Partial descriptions, 636 Pair production, 415 Partially occluded objects, 767, 776 Pairs of features, 794, 796 Partially reflective coating, 243, 244 Pairs of perpendicular chords, 787 Partial occlusions, 636, 793, 798 PAL, 456, 479, 480 Partial reconfiguration, 1110 Pan-and-tilt, 1518, 1521 Partial thinning, 825 Pan-chromatic source, 121 Particle accelerator, 515 Index 2251

Particle beams, 39 Pellin-broca prisms, 229 Particle boundaries, 1232–1234, 1239, 1240 Pencils, 1608, 1698 Particle count, 1232, 1233, 1240 Penetrating radiation, 1427 Particles in swirling liquid, 1352, 1398–1401 Pentagons, 758 Particle size, 1232 Pentaprism, 231, 233, 257 Particulate debris, 24 Pentaprism beamsplitter, 246 Part-in-place signal, 53, 1166, 1169 Pentax K, 453 Part-inspection statistics, 1166 Pentium, 899, 1144, 1309 Partitioning feature space, 1081 Peppers, 1583, 1623, 1700, 1785, 1812, 1889, 1903, 1918 Parts handling, 511, 1156 Percentage threshold, 743 Parts of printed characters, sharp corners, 862 99th Percentile, 1301 Parts recognition, 1491 Perceptions, 90, 91, 94, 96–98, 104, 105, 110, 112–114 Parts-transport mechanisms to multi-axis robots, 938 Perceptrons, 1332 Pascal, 1034 Perceptual sensation, 123 Pascal’s triangle, 883 Performance, 540 Pass/fail decision, 1166 Performance statistics, 54 Passivation layers, 417, 485, 490 Pericentric lens, 1353, 1439–1441 Passive de-speckling, 1354, 1493–1495 Perimeter, 600–602, 739 Passive imaging, 399, 403, 406 Periodic function, 632, 739 Pastes, 72 Periodicities, 615, 620, 798 Past experience, 118 Periodic patterns, 857 Pastry, 72 Periodic sampling, 552 Patches, 635, 636, 648, 658, 659 Periscope, 1354, 1384, 1386, 1389, 1498–1500, 1515 Path splitting, 986, 987 Perpendicular views, 1296, 1297, 1314 Pattern classifier, 50, 57, 842 Personal identification, 17 Patterned blob fill, 874 Perspective distortions, 793 Patterned light, 1472 Perspective error, 263, 266, 280 Patterned weave, 1329 Perspex, 1426, 1429, 1442, 1446, 1535, 1546 Pattern matching, 932–935 PGM. See Portable Greymap (PGM) Pattern matching algorithm, 932 Phantom rows and columns, 815 Pattern projector, 1415 Pharmaceuticals, 54, 62, 72, 77, 81, 120, 509, 1342, 1501, Pattern recognition, 14, 33, 45, 50–51, 54–57, 62, 70, 1503, 1555 72, 73, 75, 666–670, 686, 690, 840, 1079–1101, 1263, Phase changes, 168 1318, 1332 Phase contrast imaging, 1551, 1553 – learning, 73 Phase differentials, 626 Pattern vectors, 57 Phase locked loops, 552, 1110, 1443 Pay-back period, 52 Phase-sensitive detector, 630 PBM. See Portable BitMap (PBM) Philosophical exercise, 118, 697 PCA. See Principal component analysis (PCA) Phosphorescence, 27, 39, 687, 1353, 1424, 1426 PCB. See Printed circuit boards (PCB) Phosphors, 291, 297, 298, 300–303, 313, 409, 410, PC compatible hardware, 1140 416–419, 440–442, 500, 516–518, 1244, 1248 PCF. See Programmable colour filter (PCF) Photochromic materials, 39 PCI, 1130 Photocopiers, 276, 277 PC paintbrush, 986 Photo-detector, 36, 39–41 PCX, 986 Photodiode, 359–362, 365, 370–374, 378, 379, 383–391, N-dimensional parameter space, 777, 784 393–399, 402, 405, 409, 417, 418, 424, 425, 428, 429, Peak detection, 1258 432–434, 444, 446, 453, 490, 491 Peak location algorithm, 784 Photo-editing, 42 Peakness, 618 Photoelectric effect, 358, 398, 414–416 Peak position, 779, 782 Photographic double exposure, 1581 Peaks in the parameter space, 796 Photographic film, 39, 154 Pearls, 122 Photographic lenses, 450, 452 Peas, 64, 65, 68, 69, 522 Photography, 118, 125, 131, 145, 147, 504 Peer-to-peer protocol, 1130 Photolithographic resists, 411 Pel, 568 Photolithography, 278 Pellicle beamsplitters, 243, 248, 249, 257 Photometric, 285, 286, 312, 493, 494 2252 Index

Photon noise, 530 Pixels, 568–570, 572, 573, 577–581, 583–585, 587–590, Photopic conditions, 101 595–601, 604, 605, 607–612, 614, 617, 618, 620, Photoreceptors, 91, 93–95, 97–99, 107–109 804–806, 808–810, 815, 816, 819, 821–830, 835–845, Photo response non-uniformity (PRNU), 434, 496 848, 849, 852–854, 856, 859, 860, 862–866 Photoshop, 14, 42, 57, 497, 806, 807, 826, 836, 862, 2088 – critical for connectivity, 874 Photovoltaics, 359 – jitter, 1146 Phrase/3, 1064 – level operators, 988 Physical and mental illness, 118 – manipulation, 986 Physical colours, 437 – pitch, 360, 383, 405, 454, 456 Physical damage, 1285 – size, 360, 1367, 1369, 1443, 1524 Physical injury, 118 – spacing, 372, 375, 432, 447 Physical origins of scattering, 171–173 – terminology, 360 Physics, 982 3Â3 Pixel SE, 806, 819, 821, 822, 843 – of colour, 120–129, 139 1-Pixel wide arc, 826 – of light, 118, 119 Pizza, 63 – of polarisation, 234–237 Plaice, 111 Physiology, 118 Plain-top conveyor belt, 68 Pick-and-place, 626, 630, 641, 646, 1070 Plain white fabric, 1318, 1329 Pick-and-place robot, 1493, 2058 Planar patches, 635 Picking fruit, 68 Planar patch segmentation, 654 Picture element, 568, 618 Planck energy distribution, 293 Piece parts, 15, 54, 1372, 1487, 1681, 1789 Planck’s constant, 512 Piecewise linear, 691, 1081, 1082 Plane-polarized beams, 165 Piecewise linear surface, 640 Planning, 25, 28 Piecewise quadric, 635 – health care, 1033 Piercings, 1383, 1389 – robot movements, 1148 Pies, 63, 67, 510 Plano-concave lens, 189, 252 Piezo-electric device, 1533 Plano-convex lens, 197 Piezo-mirrors, 1450 Plants, 66–68, 70, 71 Pigeon, 93, 94, 110–113 Plan view, 1148–1150, 1152 Pigment particles, 122 Plasma, 296–302, 312 Pigs, 62, 66, 77, 78 Plasma display, 37, 297, 1244, 1245, 1253 Pills, 811 Plaster-board, 1389, 1436 Pimples, 1352, 1376, 1396–1398, 1479, 1534 Plastic bottles, 510, 1388, 1396 Pin-cushion distortion, 199, 280, 613, 715 Plastic film, 38, 54, 1319, 1397, 1436, 1441, 1450, 1464, Pinhole, 265, 276 1479, 1551 – aperture, 265, 1529 Plastic Fresnel lens, 1426, 1465, 1529, 1530 – camera, 340 Plastic goods, 1342 – lens, 1499, 1560 Plastic injection mouldings, 1787 Pinned photodiodes, 371, 372 Plastic jars, 510 PIP, 906, 945 Plastic lenses, 335 Pipeline, 709, 873–874, 1105–1108, 1111, 1119–1121, Plastic mouldings, 32, 1365, 1391, 1497, 1524 1125, 1126, 1133 Plastic replica Pipes, 498, 510, 1352, 1354, 1358, 1372, 1373, 1377, 1381, – food products, 1861 1382, 1405, 1410, 1413, 1489, 1494–1496, 1548 – of pizza, 1612, 1822 – bores, 266 – of quiche, 572 – cap, 274 Plastic safety glasses, 266 Pipe of light, 1495,1496 Plastic safety spectacles, 264 Pipe-work, 15, 39 Plastic sheeting, 210, 337 Pitch, 833–835, 1369, 1371–1373, 1419, 1501 Plastic-sheet polarisers, 1394 Pits, 1352, 1376, 1396–1398, 1403, 1430, 1467, 1479, Plastic sheets, 239, 1376, 1394, 1398, 1430, 1439, 1441, 1481, 1535, 1537 1448, 1479, 1534, 1539 3Â3 Pixel, 842 Plateau, 845 7Â7 Pixel circle, 822 Plate beamsplitter, 244–245, 249 3Â3 Pixel neighbourhood, 593, 598 Plate glass, 559–561 7Â7 Pixel representation, 808, 810 Plating bath, 1500 Index 2253

Platinum, 519 Polychromic illumination, 1467 Plexiglass, 1426, 1442, 1446, 1535, 1546 Polycrystalline silicon, 490 Pliers, 775 Polygonal mirror, 214, 218 PMOS, 363, 382 Polygonal representations of blob, 758 Pneumatic damping, 251 Polygonal scanner, 347 Pneumatic/hydraulic valves, 938 Polygons, 707, 713, 743, 754, 763 Pneumatic valves, 1313 Polyhedral free-form surface, 635, 654 PNG. See Portable network graphics (PNG) Polyhedral objects, 637 P-N junction, 361, 362 Polyhedral segmentation, 654 Pockels cells, 407 Polylines, 635 Pocket inspection, 1166, 1168, 1171–1173 Polymethyl methacrylate, 272, 277 Point aspect ratio, 456 3rd-order Polynomial, 2071, 2072 Point-by-point calculations, 924 Polynomial curve, 1208 Point-by-point comparison, 41, 508 Polynomial time, 796 Point-by-point maximum, 720 Polysilicon, 364, 376, 409 Point-by-point minimum, 746 Polystyrene, 175 3-Pointed star, 1599, 1723, 1724 Polyurethane, 172 Pointers, 984, 1112 Poor lighting, 793 Point operations, 1119, 1123 Populated PCBs, 13, 1337 Point pattern matching, 792–797 Porcelain, 177, 1403, 1453 Point processing, 463 Porous, 1491 Point-sampling, 1285 Portable Bit Map (PBM), 986 Points of minimal contact, 857 Portable Greymap (PGM), 986 Point sources, 37, 276–278 Portable Network Graphics (PNG), 986 Point-spread function, 202, 278 Portable pixelmap, 986 Polar-coordinate-axis, 712, 2066 Portable Pixel Map (PPM), 986 Polar-coordinate intensity map, 30 Pose estimation, 634, 636–637, 643, 646, 824 Polar-coordinate scan, 1354, 1495–1497 Position, 7, 8, 13, 14, 16, 23, 32, 34, 36, 40, 46, 52, Polar energy distribution, 173 53, 568, 587, 590, 595, 602, 603, 613, 618 Polarisation, 33, 35, 38, 90, 133, 153, 161, 162, 172, – invariant, 808, 867 185, 228, 232–243, 245, 246, 248, 257, 321, 546 – and radius, 2066, 2070 Polarised light, 4, 38, 1394, 1535, 1537, 1539, 1545 Post classification filtering, 1094 Polarisers, 161, 181, 233–243, 250, 252, 257, 320, 322, Posterising, 57, 825, 1205 325, 1140, 1168, 1169, 1172, 1352, 1376–1378, Post-objective scanner, 333, 334 1394–1395, 1415, 1420, 1477, 1535, 1539, 1546–1548 Post-processing, 393, 431 Polarising filter(s), 1352, 1375–1377, 1394, 1401, Posture, 1043 1407, 1535 Potential well, 361, 363, 364, 378, 394 Polarising laminated film, 1548 Pots, 510 Polarising prism, 1535 Potting plants, 1548 Polarising sunglasses, 133, 233, 234, 238, 1535 Powdered material, 64 Polaroid sheet polariser, 236, 237, 239 Power consumption, 294, 301, 306 Polar (r, q) plot, 774 Powerful language (PQT), 707, 713, 743, 754, 763, 905, Polar-to-Cartesian axis mapping, 280 948, 1032, 1033, 1043–1045, 1048, 1054, 1056, Polar-to-Cartesian coordinate transformation, 280, 612 1059–1062, 1071–1073, 1077, 1078, 1148, 1151 Polar vector representation (PVR), 704, 709, 711, 712, – library, 1054, 1078 728, 730–732, 734–737, 758 Power-law, 558 Polished aluminium, 177 Power-line fluctuations, 37, 284, 552 – mirrors, 1298 Power MOSFET, 1311, 1313 – reflector, 1299 Power plug, 1558 Polished metal, 1358, 1364, 1394, 1427, 1481, 1491 Power spectrum, 615, 617 Polished silver, 1491 Power steering connector, 52, 1138, 1139, 1143 Polished surfaces, 1430 Power supply, 1313 Polka dot coating, 245 Power supply noise, 433, 451 Pollution, 81 Power-up, 1311 Polycarbonate, 175, 266, 1474, 1546 PPM. See Portable Pixel Map (PPM) Polychromatic light, 1353, 1464–1467 P-polarized, 165–167 2254 Index

PQT. See Powerful language (PQT) Processing neighbourhood, 878, 891 Practical considerations, 51–58 Processing of tax forms, 1080 Practical TDI sensors, 382 Processing operations, 27, 51 Pre-defined shape, 613 Processing rate, 1104, 1105, 1111, 1132 Predicates, 1033, 1041, 1043–1048, 1050, 1053, 1054, Processing time, 1104–1105, 1107 1059, 1062 Image Processing toolbox, 906, 912, 945, 978 Prefrontal cortex (PFC), 105 Finite-state machine, 871–900 Preliminary code, 891–893 3Â3 Processing window, 579 Premotor cortex (PMC), 105 Process monitoring, 1333, 1336 Pre-objective scanner, 333–335 Process requirements, 540 Preprocessing, 709, 711, 749, 750, 1232, 1234, Produce grading, 56–57 1239, 1240 Production engineer, 18, 21, 23, 24 Presbyopia, 103 Production quality assurance, 27 Pressings, 1365, 1395, 1430 Production rules, 1062, 1063 Pressure, 18, 450, 458, 459 Products, 1262–1286, 1332, 1334, 1336–1343 Previously unseen samples, 76 – authenticity, 39 Prewitt, 776, 784, 1610, 1613 – cost reduction, 1333 – edge detector, 584–585 – failure, 53 – filter, 1302 – inspection, 666 – gradient magnitude, 585 – monitor, 1222 – operator, 584 – reliability improvement, 1333 Primaries, 134, 139–143, 147, 436–442 – safety, 24, 52, 1217 Primary colours, 110, 139–141, 484 – variability, 64–71 Primary light sources, 304, 320, 321 – volume, 44 Primary motor cortex (MC), 105 Profiling, 987 Primary reflection, 1252, 1253 Programmable colour filter (PCF), 45, 73, 667, 672–685 Primary visual cortex, 104, 105 Programmable colour-selective filters, 34 Primates, 91, 108–110, 113, 114 Programmable logic controllers (PLCs), 938, 1141, 1310 Principal axis, 759, 760, 2064, 2065, 2072, 2073, 2078 Programmable logic gates, 1107 – axis of minimum second moment, 763 Programmable projector, 229, 1472 Principal component analysis (PCA), 634, 637, 646 Programmable spatial light modulator, 1469 Principal planes, 193, 194 Programming FPGAs, 1107, 1111–1113, 1133 Print, 1439, 1464, 1516 Programming syntax, 906 Printed card, 1539 Programming task, 984 Printed circuit boards (PCB), 13, 39, 341, 510, 526, 531, Program termination, 1314 838, 839, 850, 855, 961, 1362, 1376, 1383, 1389, 1403, Progressive scan cameras, 368, 479, 481, 1146, 1222, 1436, 1437, 1441, 1551, 1553, 1558, 1580, 1602, 1640, 1223, 1230, 1223, 1300, 1411, 1487, 1513, 1522 1791, 1797, 1847, 1902 Projected light stripes, 850, 854 – x-ray, 1642, 1907 Projected ‘‘random’’ pattern, 1485 Printed fabrics, 1329, 1381, 1528 Projecting Printed packing, 2088 – colour pattern, 1470 Printing, 47, 118, 143, 153, 674, 828, 1354, 1381, 1426, – light stripes, 1462, 1466, 1470 1441, 1446, 1482, 1505–1506, 1522, 1524, 1528, 1544 – Moire´ patterns, 1352, 1355–1356 Priorities, 15, 58 – multiple stripes, 1353, 1464 Prior probabilities, 1084–1086 – patterns, 1353, 1434–1436, 1467–1471 Prismatic scanner, 349 Projections, 602, 779, 780, 788, 789, 791, 798, 1267, Prism beamsplitters, 246, 249 1291, 1295, 1296, 1305 Prisms, 121, 138, 139, 161, 162, 181, 198, 219, 222, Projector lamps, 123 228–234, 239–243, 246, 249, 250, 252, 257, 322, 325, Projectors, 36, 141, 154 344, 345, 347, 348, 1384, 1388, 1470, 1472, 1473, 1482, Prolog, 49–50, 52, 53, 56, 682, 683, 685, 686, 707, 713, 1496, 1498, 1509, 1510, 1515, 1535, 1537, 1539 768, 905, 906, 917, 948, 973, 976, 2079, 2080 PRNU. See Photo response non-uniformity (PRNU) Prolog+, 1033, 1035, 1043–1045, 1047–1050, 1053, Process efficiency improvement, 1333 1055, 1057–1078 Processed food products, 1429 Prolog list, 1074, 1075 Processing functions, 697, 708, 722 Prolog programming with colour, 683–686 Processing information, 1144 Prolog rules, 685 Index 2255

Prolog string, 1072, 1074 Q Prolog symbol generator, 1046 QC protocols, 18 Prolog theorem prover, 49 QE. See Quantum efficiency (QE) Proof of convergence, 688 QT, 21, 497, 620, 675, 676, 678–680, 682, 704, 1032, Propagating sinusoidal wave, 169 1033, 1043–1046, 1055, 1058–1062, 1071–1078, Propagation delay, 1107, 1108, 1112 1148, 1151, 1204, 1205, 1207–1211, 1214–1216, Properly fabricated, 1156 1218–1220, 1318, 1320–1322, 1326, 1329, Properties, 867–868 2065–2068, 2070, 2071, 2073–2079, 2081, 2082, Prosthetic devices, 44 2084, 2085 Protected aluminium coating, 205 – alternate image, 1577 Protected gold, 206, 208 – command sequences (MATLAB scripts), 909, Protected silver, 205, 207, 249 911–912, 922, 926, 928, 963 Protecting camera, 81, 247, 1354, 1383, 1411, – convention, 1607, 1622, 1892, 1909 1498–1504 – crack detector, 523 Protecting optical systems, 250 – current image, 1577, 1582, 1607, 1622, 1647 Protective box, 210 – interactive image processing system, 1204 Protective coatings, 184 – operating modes, 916, 949 Protective enclosure, 295, 1454, 1456, 1502, 1503, – operator, 583, 584 1541, 1542 – standard images, 917, 953 Protective optical windows, 161, 320, 1417, 1433, 1454 – system, 803, 832 Protect workers, 1335 – user guide, 946–964 Proton radiography, 419 Quadrant, 375 Prototype, 620, 1351, 1555 Quadratic surface, 1081 – development, 1543, 1546, 1551 Quadric surfaces, 635 – Lighting viewing system, 325, 326 Qualitative relationships, 49 Prototyping tool, 905, 939 Quality assurance, 6, 27 Protuberances, 598, 602, 603, 713 Quality control, 4, 18, 24, 119, 120 Provable truths, 704 Quality grading, 1297, 1304–1305, 1310 Provable untruths, 704 Quality of vision, 93, 97, 100 Proverbs, 20–22, 137 Quality systems, 459 Proximity sensor, 1487, 1489, 1513, 1524 Quantization, 635, 649, 654, 655, 2081 Pruning, 68, 71, 1236, 1548 – effects, 775 Pruning algorithm, 1235, 1240 – errors, 545, 556–559, 564, 817, 1258 PS/2, 1132 – noise, 2070 Pseudo-code, 50 Quantum cascade lasers, 406 Pseudo-colour(ing), 57, 315, 523, 667, 674, 953 Quantum dots, 405, 406 Pseudo-inverse, 868 Quantum efficiency (QE), 346, 371, 372, 376, 377, 384, Pseudo-median, 885–886 409, 410, 423–426, 431, 432, 434, 435 Pseudo-natural colour recognition, 73 Quarter/quarter coating, 186, 187 Pseudo-random number source, 828 Quarter-squares method, 700 Psychology, 118 Quarter-wave plates, 236, 322 PTFE, 176 Quartz, 408 Pulsed lighting, 1437 – halogen, 287, 289, 291, 293, 295, 306 Pulse lasers, 626 – halogen bulbs, 407 Pulse-width modulated (PWM), 944 – halogen lamps, 222, 289, 291, 293, 295, 1299 Pumps, 1532, 1551 Quench points, 599, 750 Punched holes, 1524 Query commands, 1311 Pupil, 90, 91, 100, 108–110 Quiche, 63 Pupillary constriction, 100 QWIPs, 405, 406 Purple, 672 Purpose-built optical head, 1432 R Pursuit, 103, 111 Rabbits, 111 Pusher rod, 1169 Radar, 792 PWM. See Pulse-width modulated (PWM) Radial basis functions, 50 Pyrex, 175, 208 Radial distance, 2066 Pyroelectrics, 406 Radial distribution of ‘‘mass,’’ 603 2256 Index

Radial intensity histogram, 1269 Rapeseeds, 1272, 1276 Radial lines, 712, 1374, 1453, 1537 Rapid prototyping packages, 48 Radial-scan, 1373, 1375 Rare earth, 296, 302 Radiation, 500, 504, 1335, 1379, 1391, 1410, 1411, 1415, Rare earth elements, 519 1424, 1427, 1495, 1501, 1503, 1504, 1557, 1559 Rare-earth orthosilicates, 419 Radiation heating, 292 RAS, 986 Radiation imaging, 418–419, 459 Raster-scan, 775, 807, 1106, 1111, 1119, 1121, 1122, 1126 Radiation leakage, 511 Rattan canes, 855, 858 Radiation screening, 42, 508 RAW, 986 Radiation source, 509, 516 Raw image data, 986 Radioactive, 39, 1411, 1498, 1501, 1503, 1557 Raw materials, 64, 666, 1285, 1334 Radioactive materials, 508, 509, 515, 1335 Ray absorption, 412–416 Radio frequency noise, 426 Ray image converters, 415–416 Radiometric black body emission, 292 Rayleigh scattering, 172 Radiometric measurements, 493 R-channel, 911 Radiometric spectra, 285, 298, 312 Reabsorption, 513 Radiometry, 285 Reading, 1381, 1430, 1505–1506, 1528 Radium, 508 – automobile number plates, 1332 Radius of curvature, 756, 918, 964, 1208 – English, 829 Radius of curvature of lens, 110 – printed text, 47 Radon transform, 46, 764–768, 2065, 2079–2081 – standard images, 916, 949 RAF. See Rectangular averaging filter (RAF) Reading glasses, 103 Ragged edges, 760 Read only memory (ROM), 700–702, 713 Rainbow, 121, 1467, 1470, 1530 Ready meals, 510 RAM. See Random access memory (RAM) Real image, 193, 195, 201, 202, 210 Ramp functions, 556 Real-time, 702, 708, 713, 741, 1246, 1264, 1285, 1341 Random access, 1113, 1116, 1120, 1126 – applications, 784, 798 Random access memory (RAM), 1109–1111, 1119 – control, 1035 Random access processing, 1116 – factory control systems, 18 Random blobs, 1597 – filtering, 561 Random electrical noise, 494, 495 – gray-scale image processing, 544 Random image, 906, 951 – image coding, 463 Randomised fibre optic bundle, 1439 – machine vision systems, 1104 Randomised Hough Transform, 797 – online, 633, 646 Randomising beam phase, 279 – operation, 1104 Randomly polarised light, 236 – opto-electronic filtering, 1506–1507 Random number generation, 988 – processing, 461 Random position, 2060 – systems, 1314 Random sample, 1304 Reasonable means, 1336 Range/depth map, 1448 Reasonable solutions, 1318, 1329 Range-finder, 1520 Reasoning, 1263 Range images, 43, 626–661 – power, 1032 – processing, 43–44, 626–661 – in prolog, 52 – segmentation, 652 Recalibration, 52 Range imaging, 626, 628, 641 Receiver operating characteristic (ROC), 1282–1284 Range information, 1353, 1462 Receptive fields, 99 Range maps, 43, 1464, 1470, 1481, 1524, 1527 – of retinal ganglion cell, 98 Range measurement, 1354, 1405, 1448, 1463, Recognising printed numerals, 588 1503–1505, 1520 Recognising printed letters, 1049–1050 Range of accommodation, 103, 111 Recognition, 14, 17, 33, 44–46, 50–51, 54–57, 774, 793, Range of algorithm, 744, 770 799, 1462, 1467, 1476, 1477, 1485, 1491, 1498, 1506 Range of variation, 65, 66 – algorithms, 666 Range sensing, 687 – of bank checks, 1080 Range sensor, 322 – of faces, 1080, 1332 Rank and range filters, 859 Reconnaissance imaging system, 337 Rank filters, 585–586, 874, 885, 886, 888 Reconstruction algorithm, 1235–1240 Index 2257

Rectangular arrays, 374, 395–397 Regulated DC sources, 552 Rectangular averaging filter (RAF), 999 Regulated power supplies, 9, 544 Rectangular structuring element, 849, 856, 861, 864 Re-instantiation, 1041 Recurrent costs, 52 Reject criteria, 1166 Recursion, 841–844, 866, 873, 879, 1032, 1035, 1037, Rejection, 1264, 1282 1043–1047, 1053, 1054, 1062, 1113, 1161 Rejection mechanism, 540 Recursive definition, 2068 Reject station, 1222 Recursive erosion, 824 Relational analysis, 1263 Recursive removal of limb ends, 826 Relative phase, 632 Recycling, 1334 – shift, 627, 632 Red cones, 130 Relay-lens tube, 1409 Redefining algorithms, 715–744 Reliability, 1262, 1282 Red-hot metal, 39, 1383 Reliable system, 52, 982 Redirecting X-rays, 537 Remnant material, 64 Redo, 1042 Remote sensing head, 498 Reduced contrast, 170 Remote sensing, military, 337–338 Red-yellow, 669, 671 Removal Re-emission of light, 121 – hair, 824, 826 Reference image, 535, 536 – leaves from carrots, 67 Reference lists, 2083 – outliers, 693, 694 Reference pattern, 1083 Remove isolated white points, 594 Reference pixel, 805, 807 Rendering engine, 988 Reference point, 1245, 1246, 1248, 1255, 2069, 2079, 2082 repeat/0, 1042, 1045 Reference vector, 687, 690 Repeatability, 1146 Reflectance, 38 Repeated lines, 798 – characteristics, 135–137, 185, 205–208 Repetitive inspection tasks, 1217 – values, 177 Repetitive manoeuvres, 646 Reflecting prisms, 230–231 Replacement of algorithm, 744, 770 Reflecting surfaces, 1491 Replanting seedlings, 71 Reflections, 164–168, 180, 183, 186, 188, 189, 214, 220, Replica bananas, 1059 226, 231, 232, 236, 244 Representations – from non-metal surfaces, 236 – :- (‘‘can be proved to be true if’’), 1035, 1036 – from plane mirror, 203 – colour, 683 Reflection/transmission ratio, 184, 185 – colour image, 572 Reflective coating, 244, 249 – images, 567–572 Reflective surface, 171, 184 Reproducing colours, 34 Reformulating algorithms, 43, 47, 51, 697, 703–704, 769 Reptiles, 97, 108, 113, 131 Refracting element, 91 Requirement, 1290, 1294, 1296, 1310, 1313 Refraction, 162, 164, 165, 170, 173, 174, 178, 185, Resatisfied, 1042–1045 186, 209 Research, 12, 15–17, 19 Refractive defects, 1222, 1223, 1225–1226, 1229 Reset noise, 386–388, 392, 433 Refractive index, 54, 1352, 1355, 1396–1398, 1400, Residual debris, 1166 1472–1474, 1535, 1541–1543, 1551, 1553 Residual radioactivity, 1557 – of glass, 228 Resistors, 62, 65, 1382, 1528 Region features, 635, 651 Resize, 986 Region growing, 653–656, 661 Resolution, 3, 28, 38, 41, 51, 91, 93, 94, 98, 107, Region labelling, 596–597, 840 196–202, 204, 522, 540, 9597 Region of interest (ROI), 389, 390, 395, 429, 430, – limit, 336, 337 455, 456, 497–498, 674, 740–741, 923–928, 986, – nomenclature, 423 1170, 1171, 1230, 1633 – spot projection, 334–335 Region segmentation, 646, 651–661 Resolving power test target, 423, 424 Register transfer, 1113 Resonant galvanometer(s), 1453, 1519, 1521 Regression, 1208, 1210, 1227 Restoration missing segments, 1232 Regular maintenance, 1313 Retina, 91, 93–95, 97–100, 102, 103, 105, 107–114, 160 Regular spatial sampling, 1450 Retinal simulation, 393 Regular texture, 616 Retro-reflector, 232, 1389, 1391, 1512, 1513 2258 Index

Reuse, 988, 991–993 Robotic assembly, 637, 638 Re-validation, 1268 Robotic cutting, 63 Reverse-biased P-N junction, 361, 362 Robotic handling, 1150 Reverse charge dump, 369 Robotic manipulators, 1415 Reverse engineering, 44, 340 Robotic object handling, 43, 856 Reverse voltage tolerance, 451 Robotics (XY-table), 13 Revolute robot (multi-axis articulated arm), 1415, 1423 Robotic trimming, 763, 1548 Reworking, 697, 1151, 1153 Robot vision, 15, 30, 928–929 RFID tag, 1312 Robot vision cell (RVC), 2054, 2058 RFI/EMI, 458 Robot vision system, 30, 702 RF interference, 458 Robot work space, 1423, 1531 RGB, 34, 40, 45, 484–486, 505, 572, 666, 667, 672, 673, Robustness, 539, 1262, 1267, 1269, 1271, 1279 677, 678, 686, 687, 689, 692, 693, 713, 749, 988, – evaluation, 54 1467, 1554 ROC. See Receiver operating characteristic (ROC) – colour space, 143, 671, 678 Rochon bi-refringent material, 1535 – components, 75 Rodent droppings, 1276, 1277, 1284 – LEDs, 303, 308, 309, 313, 314 Rod pigment, 99 – pixel, 360 Rods, 98, 99, 101, 102, 107, 108 – primaries, 134, 141, 142 ROI. See Region of interest (ROI) – representation, 75–76 Roll, 1059, 1381, 1419, 1447 – scattergram, 908, 1638, 1888 Rolled steel, 38 – space, 441–442, 667–671, 689 Rolling, 54 RGB-HSI transformation, 76, 667 Rolling shutter, 386, 391, 491 RGB/sRGB, 141–142 ROM, 1109, 1110 Rhodium, 212, 213 Roof edges, 635, 646–648, 650, 651 Rhyzopertha dominica, 1274 Roofing, 1461 Ribbon, 1389, 1493, 1494, 1500–1502, 1522 Roof pentaprism, 231, 233 Rice, 510, 1587, 1648, 1676, 1736, 1737, 1756–1758, 1771, Room lighting, 8, 36, 296 1824, 1848, 1899–1901, 1922, 1954 Rotated image, 612 Rifling, 183, 253, 1381 Rotating anode, 515 Right-angle prism, 230–232, 1472 Rotating image, 35, 612, 1354, 1356, 1509–1510 Right-most vertex, 730, 731 Rotating multi-facet mirror, 1450 Rigid bundle, 1500 Rotating object, 1353, 1453–1454 Rigourous mathematical analysis, 698 Rotating prism scanner, 341, 342, 352 Rim, 1222, 1223, 1225, 1227, 1230 Rotating shafts, 20 – circular object, 1450 Rotating wedge, 347–348, 354 – holes, 1496, 1534 Rotation, 610, 986, 1142, 1369, 1401, 1419, 1455, – station, 1222–1224, 1230 1496, 1509, 1510, 1524 – thickness, 1230 Rotational transport mechanism, 1524 RIMM, 441 Rotation-invariant Gaussian filter, 649, 655 Ring-and-wedge, 1373, 1375 Rotting, 57, 63 Ring-light, 305, 310, 1534, 1535 Roughness, 775 Ring light projecting light inwards, 1448 Rough surfaces, 164, 171 Ring of light, 1354, 1373, 1424, 1508–1509 Round fruit, 67 Ring-shaped objects, 1495 Rounding, 606 Rings of pixels, 1272 Roundness, 1268 Ripening process tomato, 73 Round products, 1269 Ripple, 552, 616 Round shape characteristics, 1032 RMS error, 1306 Round-top SEs, 847 Road traffic control/monitoring, 17 Round vegetables, 67 Roberts gradient magnitude, 583 Route planning, 1033 Roberts operator, 583, 584, 874, 1613 Row, 708, 709, 714, 715, 717–722, 740, 764, 765 Robot, 626, 633, 637, 646, 1148, 1150–1152, 1376, 1491, – integration, 611, 830 1519, 1548, 1560 – machine, 721, 722, 875, 876, 880–898 – coordinates, 2056–2057, 2059 – maximum, 611 – gripper, 824, 2060 Row-column separation, 873 Index 2259

RS-170, 489, 1146, 1245, 1255 Samples of objects, 58 RS-232, 471, 503, 1309, 1478 Sampling, 362, 370, 385, 388, 392, 395, 419–423, 428, RS330, 479 433, 445, 461, 464 RS422, 500 – criterion, 136 RS485, 1310, 1311 – node, 362, 365, 366 R-tables, 791 Sand texture, 619 Rubber, 1364, 1427, 1481, 1535 Sans serif upper-case letter A, 1049, 1050 Rubber band, 567, 728 Sapphire, 176, 180, 247, 250, 257, 258, 404, 1542 Rubber or plastic gaskets, 64 Sapphire window, 180, 181, 247, 257 Rubber pencil erasers, 669 Satsuma, 757 Rubber template, 41 Saturation, 34, 40, 76, 369, 372, 382, 392, 395, 426, Ruby, 176, 1542 429, 442, 671–674, 676, 677, 683 Ruby laser, 626 Saving images, 908 Rug, 1613 Saw-dust, 1501 Rugby-ball, 757 Scale normalization, 1083 Rule-based decision making, 54, 1338 Scaling factor, 556 Rule-based decision strategy, 1090 Scan, 367–369, 371, 372, 378, 379, 381, 382, Rule-based methods, 33 389–391, 397–399, 402, 405, 409, 417, 428–430, Rule-based recognition, 1059 433, 462–464 Rule-based systems, 1033, 1059 – control, 389–390 Rule of thumb (heuristic), 704 – lines, 918, 920, 922, 971 Ruler, 567 – patterns, 320 Rules, 1038, 1049, 1058, 1059, 1062–1067, – rate, 341, 346 1069–1071, 1076–1078 Scannerless laser radar, 628, 630, 631 Run code, 708–709, 728, 732, 758 – imaging, 630–633 Run-lengths, 393, 463, 465, 620, 1121, 1326 Scanners, 35, 37–40, 634, 650, 1233, 1241, 1351, 1375, – code, 393, 463, 465, 704, 709, 728, 732, 758, 1450, 1457, 1496, 1519, 1520, 1522, 1523 874, 986, 1214 – configurations, 343–344, 354 Russian, 134 – detectors, 332, 335, 345, 346 Rust formation, 72 – geometry, 339 RVC. See Robot vision cell (RVC) Scanning, 332, 334–336, 338, 340–344, 346, 348–350, RYB colour model, 141 352, 353 RYB model, 140–141 – angle, 628 – circle, 2074, 2077 – errors, 715 S – mirror, 346, 350, 352 Saccades, 103, 111, 112, 113 – prints, 1240 Saccadic suppression, 112 – prism, 342, 348 Sacrificial components, 1417 SCARA. See Selective compliance assembly robot arm Safe lifting, 936–938 (SCARA robot) Safety, 508, 509, 511, 538, 539, 1333, 1335–1336, Scattergram, 675, 677, 678, 682, 692 1342, 1391, 1411, 1424, 1448, 1460, 1555 Scattering, 121, 162, 170–173, 177, 227, 247, 248, – criteria, 1232 415, 431 – curtain, 1335 – cross-section, 418 – cut-off switches, 511 – of X-rays, 530 Safety-critical, 23, 41, 508, 1555 Scheduled cleaning, 1501 Saffron yellow, 683 Scheimpflug condition, 194, 195, 337, 338 Salt-and-pepper noise, 713, 817, 821, 1623, 1700, Schematic diagram of a pattern recognition 1785, 1918, 2084 system, 1080 Sample images, 1351, 1364, 1385, 1394, 1395, Schlieren, 1158, 1551, 1553 1403, 1406, 1424, 1426, 1439, 1441, Schmidt-Cassegrain telescope, 213 1455, 1474, 1476, 1482, 1527, 1528, 1547, Schott glass, 226 1548, 1559, 1560 Schwarzchild microscope/Cassegrain telescope, 213 Sample preparation, 5 Science fiction drama, 58 Sample presentation, 5 Scientific, 15, 37, 42, 54, 58 Sample programs, 986 Scintillators, 416, 419, 516–518, 529 2260 Index

Scissors, 70, 604, 821, 825, 930, 931, 939, 975, 1695, 1707, Self-normalised, 1281 1748, 1752, 1766, 1787, 1788, 1793, 1868, 1895, 1900, Semaphores, 1112 1901, 1918, 1945, 2082, 2083 Semi-colon, 909, 910, 951, 952 Scotchlite, 1391 Semiconductors, 331, 340–341, 646 Scotopic conditions, 102 – chips, 65 Scrap-identification codes, 1334 – photolithography, 410 Scrap reduction, 1333 Semi-fish eye lens, 1413 Scratches, 13, 266, 336, 337, 401, 447, 560, 1376, 1389, Semi-fluid materials, 33, 65, 72, 2067 1403, 1417, 1430, 1432, 1454, 1457, 1473, 1476, Semi-major axes, 786 1479, 1534, 1536, 1537 Semi-minor axes, 786 – resistance, 177 Semi-molten glass, 64 – resistant anti-reflective, 1298 Semi-processed food materials, 1429 Screening, 1522 Se´narmont bi-refringent material, 1535 Screwdriver, 1723, 1724, 1787, 1788, 2072 Sensing UV images, 408–410 Screws, 503, 504, 1463, 1476, 1503, 1534, 1537, 1543, Sensitivity, 91, 94, 96, 98–102, 107–110, 112, 114, 373, 1544, 1555, 1557 376, 377, 381, 382, 402, 404, 406, 423–426 – connector, 300 Sensor, 1351, 1353–1355, 1363, 1369, 1371, 1373, – head, 274 1411–1413, 1430–1433, 1436, 1453, 1457, – threads, 833–835, 1705, 1706 1462, 1464, 1467, 1471, 1482, 1484, 1487, 1489, Script, 909, 911, 912, 914, 915, 917, 951, 953 1501, 1513, 1516, 1518–1521, 1524, 1541, Seals, 510 1548–1550, 1555 Search, 774, 775, 781, 784, 785, 787, 793–795, – chip, 36 799, 7870 – matrix designations, 453–457 – engine, 1032 – noise, 377, 426, 427, 855 – tree, 837 – performance measures, 419–435 Sea-side rock, 7 – resolution, 492–493 Secondary goals, 605–706, 768 – shading, 1256 Secondary reflections, 1253 – size, 402, 431, 452, 454, 456 Second-surface mirror, 204 Separable algorithms, 1106 Security, 13, 17, 39 Separable median filter, 886–889 – cameras, 14 Separable operator, 581 – systems, 1080 Separable transform, 615 Seed sorting, 1119, 1123, 1128 Separable transformation, 1126 Segmentation, 634, 635, 638, 651, 652, 654–661, 1233, Separated Kernel image, 872, 873 1234, 1292, 1299–1303 Separated-Kernel image processing using finite-state – algorithm, 1232 machines (SKIPSM), 45, 47, 53, 720–723, 748, 842, – image, 667 844–846, 859, 872–876, 878–886, 888–900, 1124 – methods for range images, 635, 651 – sequence diagram, 875 – by watersheds, 1239–1240 Separation, 873, 879 Selecting cameras, 40–41 Sequential colour imaging, 444 Selecting linear features, 816 Serial decomposition, 607, 608 Selection of blob(s), 67 Serialising image data, 1106 Selective compliance assembly robot arm Serial links, 388, 462 (SCARA robot), 1415, 1417, 1423 Serial port, 939, 940, 942, 944, 945 Selective spraying, 63, 68 Serial process, 709 Selenium (Se), 358, 416, 418, 458 Set intersection, 868 Selenium compounds, 358 Set theory, 604, 804 Self-adaptive learning, 33, 51 Set union, 868 Self-adaptive pattern recognition systems, 50 Setup screen, 1227–1229 Self-addressing, 1311 Sewers, 36, 38, 1372, 1377, 1410, 1413 Self-calibration, 339 Sewing machine, 763 Self-centring, 2066, 2068 Shading correction, 544, 545, 548, 551 Self-diagnose, 1315 Shadows, 775, 782, 793, 927 Self-emission, 1203 – of blob, 714 Self-luminous, 322 Shaft-angle coding disc, 963 Index 2261

Shape, 515, 526, 536, 539, 590, 595, 601–603, 606–608, Shutters, 366, 368, 369, 372, 374, 386, 387, 390, 391, 613, 615, 618, 620 464, 1301 – analysis, 55, 774, 793, 1352, 1355–1356, 1365, – scanning, 391 1396, 1497 Side effects, 736, 1043 – analysis techniques, 68 Side view(s), 1148–1153 – characteristics, 1032 Sidewall, 1222–1225, 1227, 1229, 1230 – conveyors, 67 – of bore, 1537–1540 – description vector, 603 – inspection, 1224, 1227, 1230 – descriptors, 602–603 Signal conditioning, 35, 493 – factor, 67, 2083 Signal processing, 6 – fitting, 567 Signal-to-noise ratios (SNR), 18, 381, 395, 426–428, – generation, 988 464, 544, 558, 1258, 1267, 1272, 1285 – index, 636 Signal-to-noise sensitivity, 792 – of loaves, 1464, 1466 Signature search method, 636 – profiles, 774 Signature verification, 1080 Shards, 1232, 1234, 1454, 1551, 1555 Silhouettes, 53, 56, 1138, 1139, 1141, 1142, 1354, 1363, Sharpen, 463 1365, 1366, 1369, 1383, 1396, 1459, 1510–1513, Sharp IS471, 1312 1515, 1593, 1873, 1919 Shattered glass, 1231–1241 – of bottle, 918 Shearing sheep, 1336 Silicon, 483, 490, 493, 495, 504, 517, 519 Shear warping, 933, 975 – image sensors, 398, 417 Sheep, 63, 67, 78 – wafers, 266 Sheet materials, 36, 38, 266, 1522, 1546 Silver, 512, 515, 519 Sheet metal, 54 Silver-bright, 177 Sheet polariser, 236, 237, 1376, 1394, 1539 Silvered surface, 1298 Sheet steel, 21 Silverlux, 1359, 1381 Shielding, 511, 538, 1506, 1557 Similarity, 749–750 Shifting, 1481 Similar tasks, 1337 – algorithm, 612 Simple structuring, 53 Shiny metallic surface, 1376 Simple thresholding, 44, 52, 55, 553, 560 Shiny objects, 36, 266–267, 1352, 1363–1364, Simplicity, 51, 53 1376, 1394, 1403, 1491 Simplify recursively, 894–897 – surface, 77 Simulated line-scan image, 32 Shiny plastic, 1491 Simulated scene, 547 Shiny sphere, 266 Simulated sensor, 546 Shiny surfaces, 337 Simulation, 54 Shock, 457, 459, 500 Simultaneous comparisons, 881 Shoe components, 13 Simultaneous contrast, 96 Short-focus attachment, 1543, 1544 Simultaneous testing, 881 Short-focus lens, 1355, 1400, 1543–1544, 1546 Sinc (sinx/x) function, 421 Short-pass filter, 127, 128, 218, 220, 222, Sine-wave, 850, 853, 859, 861 483, 1385 – test chart, 201 Short-term, 551–553, 561, 564 – test patterns, 202 Short-term illumination variations, 552, 561 – of votes, 779 Short-wave infrared (SWIR), 402–403 Single-axis robot, 68 Short-wavelength radiation, 295 Single-index lookup tables, 882 Shot noise, 389, 410, 426, 427, 430, 433, 435 Single-layer antireflection coating, 185, 186 Shoulder and elbow joints, 1419 Single-letter command, 956 ‘‘Show-through’’ (gaps in chocolate), 1269 Single-tap, 366, 393 Shrimp, 90, 110 Single-user stand-alone, 948 Shrink(ing), 593, 594, 605, 824, 825, 835, 864–866 Single-user version, 946 Shrink white areas, 591, 601 Sinusoidal curve, 613, 627 Shrouding, 18, 1437 Sinusoidal grating, 100 Shuttered progressive scan cameras, 1223, 1230 Sinusoidally intensity-modulated laser light, Shuttering, 1223 630, 631 2262 Index

Size, 62–66, 68–70, 588, 606, 607, 610, 613, 618, 620 Soap marks, 1167 – constancy, 261, 263 Soap solution bathing, 250 – distribution, 1326 Sobel, 46, 987, 988, 1009, 1613, 1896, 1955 – grading, 1291 – edge detector, 583–584, 716, 717, 768 – measurement, 1354, 1513–1514 – operator, 584, 775, 1266 – normalization, 1080 Social and ethical issues, 51, 57–58 Skeleton, 598–600, 602–604, 649, 723, 750–752 Sodium, 124–126, 133, 176, 219 – code, 990, 991 – lamps, 37, 297 Skeletonisation, 47, 824, 825, 842–844, 874, 936 – vapour lamp, 1437 Skeleton joints/branch points, 865 Sodium iodide (NaI), 418 Skeleton limb ends, 47, 825, 829, 865 Soft-heart lettuces, 69 Skew, 393, 461, 468 Software, 6, 8, 16, 18, 27, 31, 32, 34, 35, 37, 42–44, – distribution, 1308 47–49, 51, 53, 57, 58, 1309–1311, 1314 Skew (italics), 47 – control, 1520 Skewness, 617 – development environment, 982, 993, 1001 Skin damage, 407 – interface, 1032 SKIPSM. See Separated-Kernel image processing Soft X-rays, 500, 512 using finite-state machines (SKIPSM) Solar cookers, 276 Slant lenses, 1359 Solaris, 1028 Slice of bread, 67, 599, 762, 1645, 1763, 2069 Solder joints, 32, 62, 64, 65, 510 Slide projector, 1362, 1415, 1422, 1464, 1467, – flexible cables, 62 1470, 1498 Solenoids, 905, 1072, 1293, 1310–1314 Slide-way, 1429, 1430, 1493, 1494, 1522, 1559 Solid circle SE, 837 Slip-rings, 1557 Solidity, 1598, 1599, 1848 Slit aperture, 1480, 1493 Solid square SE, 818, 837 Sloppy programming, 1062 Solid-state digital cameras, 38 Sloppy template, 587 Solid-state flash unit, 1292 Slots, 465 Solid-state relays, 1310 Small aperture, 1355, 1363, 1373, 1494, 1548, 1550 Solid-state sensors, 39, 40 Small-area defects, 1334 Solution to a problem, 1032 Small black spots, 811, 821 Something else, 44 Small bright features, 1253 Sony Cyber-shot DSC-H9 camera, 2098 Small defects, 1226, 1227 Sony XC-55 camera, 1300, 1309 Smallest convex polygon, 601 Soot, 183, 253 Smallest detectable spot, 1524 Sorters, 886, 887 Small fields of view, 1159 Sorting, 4, 13, 15, 32, 63, 1333, 1334 Small-kernel filters, 716 – fruit, 119 Small objects, 1355, 1461, 1494, 1503, 1529, 1543–1546 – vegetables, 120 Small plant, 606 Sound playback, 916, 949 Small white spots, 812, 821, 827, 838 Space, 364, 369, 372, 374, 383, 385, 388, 391–393, Smart cameras, 465–467, 470, 471, 1335 396, 399, 404, 405, 437–443, 446, 452, 459, 463, Smearing, 112, 113, 581, 874 471, 613 Smoke, 64, 81 – between blobs, 1326 – plumes, 64, 1454, 1541 Spacing, 1214–1217 Smooth, 382, 393, 397, 464, 598, 602, 609, 612, 616 Spanner (wrench), 930, 1599, 1883 – edge, 713, 732, 736, 737 Spark plugs, 1339 – spectrum, 312 Spartan 6, 1107–1109 Smoothing, 649–651, 655, 656, 658, 782 Spatial coherence, 321 – chain code, 734 Spatial filtering, 551, 554 – polar vector representation, 734–736 Spatial filters, 420 S/N, 410, 428, 434, 435, 444, 446 Spatial frequencies, 4, 35, 100, 201, 202, 420, 421, 423, Snell’s law, 166 435, 850, 860 Snifters, 1224 Spatial-frequency domain, 885 ‘‘Snow,’’ ‘‘salt and pepper’’ noise, 886 Spatial integration, 73 SNR. See Signal-to-noise ratios (SNR) Spatial light modulator, 139, 1434, 1435, 1471, 1472 Soap bubbles, 122 Spatially invariant lighting, 1319 Index 2263

Spatially uniform coating, 245 Spills, 1335 Spatial matched filter, 792, 797 Spin image, 636 Spatial parallelism, 1106 Spirals, 1373, 1454, 1455, 1537, 1540 Spatial period, 420 Spiral-scan, 1373, 1375 Spatial radiation pattern, 37 Spirit level, 919–926 Spatial relations, 1236 Splash, 81 Spatial relationships, 1032, 1056–1058, 1062 Spline, 1237 Spatial resolution, 331–333, 358, 395, 419–423, 428, Split, 510, 1354, 1385, 1478, 1479, 1514–1516 456, 568, 572, 1352, 1369–1372, 1513, 1560 – field, 1354, 1383–1386, 1388, 1514–1516 Spatial uniformity, 553 – image, 1478, 1486 Special effects filters, 682 S-polarized, 165 Specialised image sensors, 323 Sports shoe, 13 Special-purpose integrated circuits, 43 Spots, 1263, 1266, 1269 Specified command sequence evaluation, 917 – colour printing, 154 Speckle pattern interferometry, 1354, 1532–1533 – defects, 860 Speckle, 287, 811, 1276, 1448, 1493, 1494 – projection, 334–335, 340, 345 Spectral absorption, 525, 526 – size, 516, 529 Spectral analysis, 229 Spottiness, 1059 Spectral characteristics, 124, 125, 434, 442, 446–447 Spotty, 1032, 1033, 1062 Spectral colours, 121, 131, 146, 437, 438 Spray cones, 64, 1454, 1456, 1503, 1540, 1541 Spectral density, 615, 617 – angle, 30 Spectral emission, 321, 525 Spraying, 63, 68, 1503, 1513, 1548 Spectral locus, 439 Spray-on developer, 1533 Spectral power density, 443 Sprays, 55, 1454, 1456, 1503, 1505, 1533, 1541 Spectral radiation, 123 – jet, 13, 50 Spectral reflectivity function, 1438 Spreading tips, 1304 Spectral response, 101–102, 321 Springs, 32 – of eye, 285 Sprouting, 1285 Spectral sampling, 127 Sprue, 33, 64, 1454 Spectral sensitivity function, 525 Spurs, 821, 824, 826, 828, 832, 834, 866 Spectral transmission characteristics, 124 Sputtering, 296 Spectrophotometer, 140 Squareness, 635 Spectroscopy, 378, 379, 396, 488 Square root of intensities, 577 Spectrum, 34, 37, 38, 41, 71, 74, 75, 78, 284, 288, 305, 306 Squares, 40, 41, 45, 56, 803, 805 Specular highlights, 1302, 1303 – distance, 688, 745–748 Specular objects, 1158, 1245 – functions, 700 Specular reflection, 79, 162, 171–174, 327, 1376, 1394, – intensities, 577 1487, 1491, 1534 – objects, 1279, 1280 Speech synthesis, 905, 976 – pixels, 481, 482 Speed improvements, 785 Squaring, 576 Speed of conveyor, 1300, 1312, 1313 sRGB, 440–442, 447 Speed of light, 161, 169, 173, 512 Stabilised lighting, 1354, 1516–1518 Speed problem, 784–786 Stabilised power supply, 511 Speedup factors, 1279 Stabilising gaze, 111 Speed variation, 382 Stability, 1244–1248 Sphere, 688, 690 – of emitted power, 37 Spherical aberration, 110, 196–199, 211, 212, 243, 246 Stable lamps, 9 Spherical coordinates, 214 Stacked plates, 239 Spherical items, 1291 Stacked sensor arrays, 397 Spherical mirrors, 210–213, 257 Stacking/packing, 63 Spherical surface, 1354, 1358, 1359, 1485–1488 Stack mode, 915, 916, 947–949, 953–956, 1726, Spiders, 33, 90, 2078, 2079 1843–1845, 1877, 1941 SPIE-The International Society for Optical Staining, 177, 184, 185 Engineering, 15 Stain resistance, 177 Spikes, 510, 512, 513, 1202, 1217–1218, 1396, 1454 Stair-case image, 579, 580, 1604, 1624 Spillage, 1424 Stalagmite, 1202, 1217 2264 Index

Stamped text, 1083, 1084 Straight lines, 777, 778, 780, 787, 790, 791 Stampings, 62, 1365, 1430, 2069, 2070 – features, 46 – casting moulding, 1430 – segmentations, 635 Standard creasing, 57 – structuring, 816, 817 Standard histograms, 589 Straightness, 1208 Standard images, 907, 917, 945, 946, 953, 963, 964 Strain gauge, 1290 Standard luminosity function, 285 Stratix, 1107, 1109 Standard MATLAB M-files, 910, 916, 952 Stray light, 289, 312, 369, 372, 374, 389, 390, 452, Standard RGB, 141 1312, 1432, 1522 Standoff distance, 629 Streaks, 582, 612 Starlight, 286 Streaming, 1111 Star maps, 2076, 2080 Stream processing, 1106, 1107, 1116, 1119–1121 Starter/ballast, 300 Street lighting, 37 Starter for a fluorescent tube, 299 Stress, 1355, 1427, 1535, 1537, 1546–1548 State machine, 1112, 1124, 1131 – patterns, 1546–1548 Static memory (SRAM) cells, 1110 – patterns in glass, 234, 235 Statistical classifier, 1083 Striae, 209 Statistical data analysis, 28 Striking voltage, 299, 302 Statistical frequency, 706 Strings, 63 Statistically tackling texture, 775 – data, 984 Statistically-valid result, 706 – recognition, 1080, 1086, 1087 Statistically verifiable, 1340 Striped background, 1215, 1222 Statistical recognition, 1083, 1086–1091 Striping, 367–369, 372–375 Statistical techniques, 1318 Strip mining, 1121 Statistical texture, 616–618, 840 Strip rolling, 1121 Statistics, 1308–1310, 1314 Strobe, 126, 127, 371, 374, 428, 452, 467, 1362, – of system performance, 56 1433, 1447, 1522 Stator for electric motor, 603, 1609, 1811, Strobed lighting, 20, 371, 374, 1354, 1411, 1429, 2069, 2070 1443, 1471, 1487, 1489, 1513, 1516, 1524 Stator stamping, 1811 Strobing, 288, 303, 305, 311, 1362, 1491, 1513, 1551 Steel-bright, 177 Strong directional component, 840 Steel screw, 523 Strong features, 761 Steel sheet, 1464 Structural descriptions, 635 Steel strip, 1450 Structural element decomposition, 608 Steerable image sensor, 1354, 1518–1521 Structural information, 604, 616, 620 Steering laser beam, 1354, 1520–1522 Structural integrity, 510, 1222 Stefan’s constant, 294 Structural recognition, 1083 Stefan’s law, 293 Structured light(ing), 71, 287, 626, 1255, 1354, Stemware, 1221–1230 1436, 1437, 1467, 1524–1528 Step edges, 636, 638, 646–649, 651, 1485 Structures of nature, 1080 Step-like features, 1355, 1435, 1441, 1491, 1492 Structures of eye, 95 Stepper-motors, 938, 943, 1072, 1245, 1255, 1415 Structuring elements (SEs), 47, 53, 554, 562, 604–609, Step through, 1229 620, 679, 721, 722, 748, 804–808, 811, 813, 814, Stereo image pairs, 626, 1523 816, 817, 819, 838, 840, 841, 844, 845, 859, 863, Stereoscopic vision, 67, 96, 111, 112 864, 866, 923–925, 927, 928, 1142, 1160, 1225, Sterilization, 408, 458 1234, 1252, 1253, 1256, 1327, 1328 Sterna minuta, 95 – decomposition, 607–608 Stippled glinting back-ground, 1515 Sub-classifier, 688, 689 Stitching, 399 Subgraphs, 794, 795 Stock-control, 18 Subjective criteria, 50, 70 Stop/start, 1071 Subjective nature of colour, 137 Storage life, 1291 Sub-millimeter microwave band, 406 Stored exemplars, 50 Subpixel, 360 Strabismus, 276 Sub-pixel accuracy, 1304 Straight, 1207, 1208, 1210, 1215 Sub-pixel measurements, 491 Straight edges, 46 Sub-sampled configurations, 375 Index 2265

Substrate materials, 207–209, 227 SWIR. See Short-wave infrared (SWIR) Substrates, 207–209, 227, 359, 361, 377, 395, 401, 402, Switched-colour light source, 1354, 1528–1529 1244–1248 Switching current and alternate images, 952 Subtlety of discrimination, 90 Switch-mode regulator, 1311 Subtle variations of colour, 72 Symbolic colour names, 45, 682 Subtract(ing), 386–389, 392, 401, 433, 437, 442, 464, Symbolic descriptions, 634 577, 986, 1004 Symbolic geometrical features, 636 – reference image, 1323–1324 Symbolic mathematical manipulation, 1033 – two images, 578 Symbolic processor, 768 Subtractive colour model, 142 Symbolic reasoning, 1032 Subtractive mixing of colours, 140 Symbolic representations of colour, 682–683 Succeed, 1038, 1041–1043, 1045, 1048, 1051–1053, Symbolic terms, 16, 50 1056, 1068, 1076 Symmetrical, 811, 825, 918, 1204, 1210, 1212 Successive dilation, 607 Symmetrical reflectors, 1488 Suction gripper, 930, 1722, 1724 Symmetrical shapes, 787, 788 Sufficient solution, 840 Symmetry, 786–788, 797, 798, 1142, 1210–1213 Sugar grain size, 1340 Synchronising scanning and image acqusition, 938 Sugar solution, 176 Synchronization, 380–382, 460, 461, 1112, 1130, Sulphur, 680 1478, 1518 Sum-squared error function, 1099 Synchronized rotating shutters, 369 Sunburn, 295, 407 Synchronous optical sensing, 1312 Sunlight, 219, 229, 401, 2098 Synchrotron, 515 Sun raster image, 986 Syntactic model, 620 Superellipses, 787–789 Synthesized image, 522 Super_exemplar, 749 Synthetic fused silica, 178–180, 209, 227 Superimposition of feature shadows, 530 Synthetic signature, 636 Superpixel, 360 Synthetic test image, 463 Superquadrics, 635 System 7, 906, 978 Super vision, 906, 978 System boot-up, 876 Supplement, 810, 862–868 System calibration, 2054 Suppress the output, 910, 952 System cost, 268 Surface accuracy, 204, 209 System engineering, 16–18, 20, 21, 25–27, 46, 768, 982 Surface cleanliness, 210 System integration, 27, 54, 1336 Surface contamination, 63, 1222 System issues, 19, 20, 51, 80–82 Surface height, 1355, 1407, 1435, 1436, 1462, 1464, System prototyping, 1363, 1477 1466, 1472, 1527 Systems approach, 57 Surface imperfections, 918, 1430, 1487 Systems thinking, 58 Surface inspection, 39, 53, 54, 1166, 1167, 1170–1172 Systolic arrays, 1116 Surface meshes, 636, 643 Surface-mounted components, 997, 1000 T Surface mounting, 252 2T, 388 Surface normal, 634, 635, 639, 643, 646–648, 650, 3T. See Three-transistor (3T) 651, 654 4T. See Fourth transistor (4T) Surface profile, 18, 1255 5T. See Five transistors (5T) Surface reflectance, 1393, 1436, 1524 (X,Y,y)-table, 1070, 1415, 1417, 2054, 2060, 1415, Surface roughness, 38 1417, 2064, 2065 Surface segmentation, 661 Table cutlery, 1050–1052 Surroundings, 118 Table place setting, 1053–1056, 1058 Surveillance, 17, 22, 1358, 1363, 1518 Tablets, 520, 811 Surveillance CCTV, 2098 Table-ware, 64 SUSIE, 906, 978 Tachometer, 487 Suspended particles, 162, 171, 173 Tagged image file format, 986 Swarf, 13, 24, 33, 64, 1432, 1501, 1555 Tails up, 1043 Sweet-corn (maize) cobs, 1059 ‘‘Taking reasonable care,’’ 1336 Sweets (candies), 120, 1379 Talbot fringes, 43, 1354, 1503–1505 SWI-Prolog, 917, 948, 1032, 1033, 1071, 1072, 1078 Talbot period, 1503 2266 Index

Talc, 1503 Terminal mode, 915, 916, 948, 949, 952, 953, 955–961 Tampering, 1501 Terminal symbols, 1032 Tangent plane, 643, 644 Terminology for lenses, 190 Tanks, 1548 Test chart, 201, 202 Tapered fibre optic bundles, 417 Test for ‘‘banana-ness,’’ 1059 Tapering, 635 Testing, 23, 52, 55, 1101 Target identification, 17 – optical systems, 203 Target vision system (TVS), 22, 27, 28, 51, 53, 54, – phase, 1101 1351, 1543 Test pattern, 201, 202, 1083–1085 Tarnishing/contamination of optical surfaces, 1516 Test samples, 1337, 1338 TCP/IP sockets, 1222, 1223 Test vector, 687 TDI. See Time-delay integration (TDI) Tetachromatic vision, 109 Tea bags, 1379 Tetrachromats, 132 Teacher, 33, 50, 57, 672, 689 Texels, 620 Tear-drops, 831 Text-based programming languages, 983 Teeth of a gear, 53 Textiles, 73, 171 Teflon, 176 – fibres, 1545 Telecentric, 35–36, 53, 260–280, 1529, 1530 Texture, 4, 7, 57, 62–65, 69, 80, 1379, 1424, 1432, 1439, Telecentric collimator, 267 1509, 1578, 1604, 1624–1626, 1705, 1709, 1753, 1773, Telecentric imaging system, 217 1775, 1778, 1781, 1839, 1870, 1880, 1893, 1900 Telecentric lenses, 36, 199, 258, 260–280, 816, 1204, – analysis, 33, 510, 590, 616–620, 839–841, 858 1224, 1354, 1363, 1529–1530 – attributes, 619 Telecentric optics, 1138, 1141, 1156–1160, 1163, 1222 Textured binary image, 1319 Telecentric stop, 1157–1159 Texture descriptors, 840 Telecentric systems, 1157, 1158 Textured image, 615–619 Telegraph noise, 433 Textured surfaces, 742 Teleost fish, 110 Texture element, 620 Telephoto lens, 110, 500, 1298, 1422 Texture measures, 618, 619 Telescopes, 183 Theorem proving, 1035 Television, 5, 57, 118, 131, 132, 147–149, 153, 154, Thermal conduction, 1553 369, 374, 389, 449, 453, 456, 468, 569, 572 Thermal expansion, 174, 176, 178, 179, 181–183, Television studio, 286 207–209, 1436 ‘‘Telling the time,’’ 961–962 Thermal history, 180 Temperature changes, 433, 434, 457 Thermal imaging, 403–405, 1427, 1551 Temperature compensation, 557 Thermal inertia, 1443 Temperature effects, 225–226 Thermal IR images, 2108–2113 Temperature-time profile, 1553 Thermal noise, 433 Temperature variations, 540 Thermal radiation, 322 Template, 803, 804, 842, 844, 845 Thermal runaway, 404 – fitting, 41 Thermal shock, 178, 179, 181, 208, 225–226, 247 – masks, 792, 1266–1267 Thermo-chromic film, 1553, 1554 Template matching (TM), 47, 535, 774–776, 797, Thermo-chromic paint, 1551 798, 1264, 1265, 1274, 1275, 1285 Thermopiles, 406 – masks, 1285 Thesholding, 906, 923, 950 Temporal frequency response, 551 Thickening, 826–828, 831, 838, 844 Temporal illumination functions, 551 ‘‘Thicken’’ morphological functions, 866 Temporal limitations, 429 Thick-film circuit, 13, 836, 1610, 1731, 1751, 1754, 1890 Temporally constant light, 553 Thickness, 1252–1259 Temporal noise, 495 3rd-order polynomial, 1211, 2071 Temporal parallelism, 1106, 1107 Thin black streaks, 812, 824 Temporal pattern of light, 321 Thin dark streaks, 850, 853 Temporal processing, 464, 467 Thin film, 1353, 1377, 1380, 1471–1474, 1553 Temporal variation of intensity, 288 – polarisers, 240 Temporary assumptions, 1032 Thin lens, 1157 Terahertz illumination, 407 – condition, 192 Terahertz imaging, 406–407 – formula, 193 Index 2267

Thin line illuminator, 1447 T-joints Thinning, 595, 649–653, 925, 936, 987, 988, 1235, 1240 Toad, 96, 97 Thin spots, 510 TOF image pairs, 532, 535, 538 Thomson, 415 TOF x-ray inspection system, 531, 534, 541 1000 base T, 502 Toiletries, 54, 55, 81, 1334, 1342, 1555 Threaded code, 1144 Tolerances, 32, 1145, 1271 Threaded computation model, 1112 – settings, 1144 Threads, 13, 23 Tolerant of lighting variations, 923 Three-chip colour cameras, 485 Tomato sauce, 533, 1406 Three-dimensional information, 1254 Tone-texture concept, 616 Three-dimensional model, 1291 Tools, 15, 27, 28, 46 Three-dimensional object, 1291 Tooth brush, 520 Three-dimensional parameter space, 614 Top-bottom, 375, 378, 386 Three-dimensional scanning, 338, 339 Top-hat, 819, 821, 822, 832–834, 848, 850 Three-dimensional surfaces, 1252 Tops of cans, 1424, 1533 Three-finger gripper, 2068 Toroidal alloy casting, 30 Three-fold symmetry, 2065 Toroidal mirror, 212, 217, 218 Three-input sorters, 886, 887, 889 Toroidal object, 612 Three-phase clock, 363 Torque converters, 637, 638, 641–645 Three-phase register, 363, 364 Total internal reflection, 167, 168, 205, 228–231, 240, Three-pointed star, 929, 2065 241, 243, 1203, 1218 Three-stage bubble sorters, 887 Totally internally reflecting film (TIRF), 1429, 1442, 3Â3 closing, 1124 1443, 1446, 1447 Three-transistor (3T), 386, 390 Tourmaline, 238 – pixel, 386 Toxic, 1498, 1501, 1503, 1542 – readout, 386 3T pixels, 386 Threshold(ing), 20, 42, 44, 52, 53, 55, 57, 199, 575, 4T pixels, 387, 391 576, 589, 590, 597, 598, 608, 613, 618, 667, 675, Tracing 678, 683, 774, 793, 1118–1120, 1122, 1123, 1125, – edge, 926–928 1131, 1148, 1170, 1171, 1205, 1214, 1218, 1227, – path of rays, 193 1233, 1235, 1241 Track(ing), 636, 1518 – activation, 1097 Traditional colour theory, 73 – parameter, 1590, 1654, 1675, 1715, 1737, 1742, Traffic flow, 466 1759, 1898, 1931 Trailing tubes, 71 – selection, 656–658, 661 Training, 1342 Throughput, 1104–1107 Training phase, 1099, 1101, 1230 – rate, 702, 1487, 1516 Training set, 1091, 1098–1101 TIF/TIFF format, 911, 914, 986 Trangulation, 39 Tiles, 63, 64, 70, 1430, 1441, 1534 Transducers, 37 Tiling, 607, 608, 1279 Transduction, 95, 99 Tilt, 1210–1213 Transfer function, 492, 497 Tilted, 641, 1212 Transferring circle information, 782 Tilted lines, 428 Transferring line information, 781 Tilting Transformation matrices, 2054 – filter, 224 Transformations, 1104, 1120, 1126 – lens, 195 Transient events, 1411, 1524 Timber, 510, 1501, 1548 Transient phenomena, 76–77 Time between samples, 1105 Transient recovery, 452 Time-delay integration (TDI), 40, 488 Transistor variations, 434 – sensors, 488–489 Translation devices, 251 Time-domain filtering, 551 Transluscent materials, 1396, 1456, 1551 Time of flight, 39, 43 Transmission parts, 646 Time processing, 1104–1105, 1107 Transmission reflection ratio, 245 Time to process pixel, 844 Transmissive cases, 546 Timing generator, 461 Transmittances, 180, 201, 224–226 TIRF film. See Totally internally reflecting film (TIRF) Transparent, 6, 35, 36, 38, 41, 54 2268 Index

Transparent/clear glass, 1396 Tunnels, 38 Transparent film, 1353, 1389, 1393, 1396, 1400, N-Tuple filters, 587, 588, 597, 859 1471–1473, 1476–1477 Turbine blades, 13, 340, 510 Transparent materials, 170, 171, 174, 237, 1252, 1372, Turbo-charged LED, 303 1447, 1454, 1476, 1495, 1534, 1541, 1551 Turbo-charging, 305, 311 Transparent objects, 1353, 1355, 1396, 1454–1457, Turn-key system, 21 1541–1543 Turntable, 22, 30, 1453, 1455, 1527, 1644, 1837, 2066 Transparent sheet, 1355, 1450, 1546–1548 Turpentine, 176 Transport, 7, 15, 38, 46, 54, 56 Twigs, 1285 – mechanisms, 7, 46, 56, 938 Twin-beam x-ray systems, 508 – registers, 362–364, 366, 367, 371, 372, 374–379, Twin line-scan sensors, 517 383, 389, 396, 399, 458, 461 Twin orthogonal fan-beam (TOF) x-ray system, 531 Trapezium, 35 Twisting, 635 Trapezium (trapezoidal) distortion, 194, 613, 715 Two bays, 930–932, 2072, 2075 Trapezium-to-square mapping, 1481 Two-class learning rule, 688 Tree search, 636 – for CC, 689 Trial-and-error approach, 872 Two-colour infrared imaging, 405–406 Triangles, 758 Two-dimensional auto-correlogram, 2084 Triangular mesh, 634, 640 Two-dimensional discrete Fourier transform (DFT), Triangulation, 43, 44, 626, 850, 852, 854, 1405, 1436, 1459 614–616 – by light sectioning, 852 Two-dimensional gradient histogram, 654 Trichroic filters, 222 Two-dimensional histogram, 618 Trichroic prism, 229–230 Two-dimensional projection, 1291 Trichromatic vision, 109, 132 Two-dimensional transformation, 1126 Tri-colour, 1433 Two-input sorters, 886 Trifles, 63 Two lakes, 930, 2072, 2076 Trigger, 371, 381, 389, 390, 428, 429, 461, 463, Two-layer coatings, 186–188 469, 470 Two most distant edge points, 2072, 2077 Tri-linear sensors, 444 Two-pass labelling algorithm, 1118 Trimmed, 1292, 1294, 1305 Two-phase register, 364 Trimming Types – leaks, 67 – of eye, 90, 111 – lettuce, 67 – of scanner, 332–335 – rhubarb, 67 – of X-ray tube, 513–515 Triphosphor fluorescent, 312, 314 Tyres, 1386, 1453 Triple bisection, 1280 – algorithm, 789, 790, 799 U Triplet methods, 636 UK power plug, 1633, 1933 Tripod operators, 636 Ultimate thickening, 827 Tristimulus, 130–136, 139–145, 437–444, 447 Ultimate thin, 866 Troxler fading, 132 Ultra-fast ellipse location, 789–791 True maximum, 707 Ultra-sonic, 18, 27 True positives (TPs), 1282 Ultrasonic cleaning, 250 Trumpet, 218 Ultraviolet (UV), 6, 18, 27, 30, 37, 40, 72, 109, 161, Tubes, 1357, 1358, 1372, 1373, 1377, 1381, 1403, 168, 179–181, 205, 206, 212, 227, 288, 303, 313, 1405, 1409, 1410, 1413, 1429, 1442, 1446–1448, 320–322, 327, 337, 341, 490, 508, 687, 1244, 1335, 1457, 1503, 1504, 1522, 1530, 1546, 1548, 1555 1336, 1379, 1381, 1385, 1391, 1411, 1413, 1415, Tubing, 1480, 1522 1417, 1424, 1426, 1461, 1477, 1485, 1501, 1505, Tubs, 63 1506, 1518, 1537, 1541, 1545 Tulip, 31 – absorptive materials, 409 Tumblers, 1202, 1214 – band-pass filter, 224 – stones, 1166 – blocking filters, 1385, 1391, 1424, 1426, 1477 Tunable light source, 126 – colour space, 149 Tungsten, 512, 513, 515 – content, 284 Tungsten halide, 291, 293 – imaging, 407–412 Tuning, 1104, 1130–1132 – light, 30, 1391, 1424, 1506 Index 2269

– patterning of flowers, 109 User friendly, 1341, 1141, 1144 – emissions, 301 User interface, 7, 17, 18, 48, 49, 51, 53, 54, 1139, 1142, – fluorescent tubes, 301 1144–1145, 1227–1230, 1309 – images, 407, 411–412, 472, 2114–2124 U-shaped objects, 929, 1118 – LED, 303, 305 Utilities, 906, 914–917, 946, 986, 988 – optical materials, 410–411 UV. See Ultraviolet (UV) – UV-A, 301–304, 407, 410 UV-VIS fluorescence, 327 – UV-B, 293, 407 – UVC, 408 V Umbilical cable, 1555 Vacuum, 167, 169, 170, 173, 176, 177, 192, 213, 227 Uncertainty, 62, 69 Vacuum gripper, 938 Uncoated surfaces, 164 Valley, 1142, 1365 Uncompress video, 1080 – in histogram, 590 Unconstrained optimization problem, 1100 – between two peaks, 1257 Uncontrolled lighting, 8 Value, 130, 134, 136, 145, 146, 149–153 Uncooked dough, 72, 2067 Vanishing lines, 798 Uncooperative objects, 77–80 Vapour lamp, 313 Uncured foams, 72 Variability, 32, 33, 42, 51, 57 Undefined data, 984 Variable, 817, 860, 861 Under-exposure, 1301 – assignment, 1033 Understanding human speech, 1080 – magnification, 526, 530 Understanding human vision, 16 – natural objects Understanding natural language, 1062–1071 – waveband lighting, 35 Undulating form, 54 Variance, 617 Unemployment, 1343 Variations Unexpected situations, 704 – in lamp brightness, 42 Unfired ceramics, 64 – in light level, 53 Unification, 1065 – light levels, 40 Uniform illumination, 1222, 1269, 1439, 1446, 1447 – of thickness, 1459 Uniformity correction, 496 Varietal purity, 1271 Union, 577, 604, 607 Varifocal spectacle lenses, 111 Union Jack, 153 V-coatings, 187, 188 Universal vision system, 8 VCS. See Vision control system (VCS) Unknown circle size, 783–784 Vegetables, 119, 120, 510, 763, 775, 1334, 1462, 1548 Unknown position and orientation, 2064 – oil, 175 Unknown radius, 784, 786 Vehicle location, 17 Unpolarised light, 236–238 Velleman extended USB interface board, 2128 Unpredictable form, 68 Velleman K8055 USB experiment interface board, 942, Unpredictable optical environment, 1477 2127–2131 Unprovable truths, 704 Velocity of light, 120 Unsafe lifting, 938 Vergence, 111 Unseen samples, 22, 51 Verification, 46, 53, 666, 1155–1163, 1355, 1485 Unsharp masking, 582, 860, 1322–1323 Verifying presence/shape, 13 Unstable, 691 Verilog, 1111–1113 Unwanted, 848, 849 Versatility, 1339, 1340 – light, 1484 Vertebrates, 90, 91, 103, 111–113 – pixels, 1373, 1390 – eyes, 91 – votes, 788 Vertical, 1202, 1207–1208, 1210, 1214, 1215, 1217 – x-rays, 1557 Vertical antiblooming (VAB), 369, 377 Updating help, 917 Vertical blurring, 717 Upper-case letter A, 829, 1049, 1050, 1062 Vertical chords, 784 Uranium, 508 Vertical differencing, 717 URL control, 986, 1001 Vertical line, 814, 831, 838, 842, 851, 852, 854, 862 USB, 43, 460, 461, 469–470, 500–502, 1130, 1478 – pattern, 1222 – cameras, 1141 – SE, 851, 852 User acceptance, 54 Vertically, 1423, 1446, 1494, 1499, 1535 2270 Index

Vertically polarising filter, 1535 Visible (VIS) Vertical scan lines, 2070 – diameter, 1296 Vertical shift, 1380, 1419 – wave, 160 Vertical striped pattern, 1225 – wave-band, 322 Vertical striping, 3, 74, 368, 369, 372, 373 Vision control system (VCS), 906, 978 Vertices, 605, 640, 643, 644, 794 Vision system coordinates, 2054, 2056–2057, 2059, 2060 Very large anamorphic mirrors, 213 Visual acuity, 97–100, 102, 107–108, 112 Very large arrays, 398–399 Visual background, 30, 38 Very large cylindrical mirrors, 216 Visual basic, 1142–1144 Very large mirror, 1531 Visual illusions, 33, 90, 96, 105–106, 114 Very small blobs, 809 Visualise stress patterns, 234 VGA, 455, 457, 468, 1255 Visualising fluid, 1551 VGA type, 1130 Visually guided robots, 63, 67, 2054 VHDL, 1111–1113 Visual motor pathways, 105 Vibrating machines, 1532 Visual pathways, 104, 105, 113–114 Vibration, 3, 18, 38, 54, 288, 295, 380, 450, 457, 500, Visual performance, 93–95 503, 504, 1290, 1298–1300, 1336, 1401, 1411, 1427, Visual process control/monitoring, 15 1461, 1471, 1487, 1510, 1532, 1533, 1542, 1545 Visual processing, 95–97, 113, 114 Vibration analysis, 1354, 1532–1533 Visual-programming development, 983, 984, 997 Vibration-free mountings, 18 Visual-programming environment, 48, 49 Vibration-proof, 38 Visual purple, 99 Vibratory bowl feeder, 1169, 1491, 1493 Visuomotor behaviour, 111, 114 Vickers, 1433 Voids, 510 – microhardness, 177 Voltage droop, 1313 Video, 118, 124, 125, 127, 131, 140, 142, 145, Voltage fluctuations, 1163 147, 148, 154 Volume, 35, 44, 56, 63 Video cameras, 516, 583 – estimation, 1295–1297, 1306 Video electronics, 18 Votes in parameter space, 778 Video formats, 457 Voting for peaks, 781, 782 Video frame rate, 1105 VSG image processing & analysis toolbox, 983, 1029 Video microprobe, 1545 V-shaped cups, 1291, 1294 Video multi-plexor, 942 Video resolution, 493 Vidicon, 402, 453, 482, 497 W View flat surface, 1354, 1534–1535 Wafers, 1270 View front and back, 1354, 1530–1531 Walk-way, 1519 Viewing, 68, 77, 78 Wall thickness, 510 – angle, 121, 122, 135 Walsh/Haar transform, 739 – an annulus, 1352, 1354, 1386, 1389, 1533–1534 WAN, 1421 – booth, 133, 150, 153 Wankel engine, 836 Vignetting, 34, 199, 200, 431, 432, 452, 496, 1504, Warm-white fluorescent lamps, 287, 312 1543, 1546 Warped(ed), 41,, 529, 536, 610, 612, 613, 714, 715 VIPS, 1314 Washdown and sterilization requirements, 458 Virtex 6, 1107, 1109 Wash-down procedure, 540 Virtual aspect-ratio, 1462 Washers/wipers, 210 Virtual caliper gauge, 1603 Waste material, 33 Virtual focal point, 189 Waste reduction, 57 Virtual image, 191–193, 195, 202, 203, 210 Water content, 1268, 1280 Virtual light sources, 131 Water droplets, 266, 1313 Virtual-phase registers, 364 Water-proof housings, 540 Virtual pixels, 1371, 1372, 1448 Watershed, 679, 680, 827, 828, 838, 840, 844, 850, 857, VIS. See Visible (VIS) 858, 867, 1239–1240 VIS-blocking, 2098 Watershed transform, 1233, 1239, 1240 Visible (VIS), 18, 27, 30, 31, 38, 40, 120, 121, 140, 160, Wavefront distortion, 247 162, 168, 179–181, 199, 205, 207, 209, 212, 222, 228, Wavelength, 33, 35, 38, 39, 43, 161–163, 167–169, 235, 239, 246, 285, 293, 298, 301, 303–305 172–174, 176, 178, 180, 184–188, 198, 199, 202, 204, Index 2271

206, 207, 209, 219, 220, 222, 224–230, 235, 238, Width, 1211, 1213–1217 240, 241, 243, 245, 246 Wien’s law, 293 – sensitivity, 96, 102, 108–110, 114 Wilcoxon signed rank test, 916 Waves, particles, 161–162 Winbond W78E516B, 1310 Waviness, 1222, 1225, 1229, 1230 3Â3 Window, 1119, 1265, 1266 Wavy, 1225 Window mode, 907, 915, 916, 947–949, 953 Wavy glass, 1226, 1230 Windows, 899, 982–984, 986, 1028, 1142, 1143, Weak texture, 620 1301–1303, 1309, 1312, 1313, 2126, 2128 Weaving, 75 Windows NT, 1223 Web, 15, 41, 48, 1353, 1384, 1389, 1393, 1436–1437, Wind-screens, 1220 1443, 1446, 1450, 1453, 1462, 1464, 1480, 1489, Wireframe, 630, 631 1516, 1522, 1524 Wireless image acquisition, 1355, 1554–1555, 1557 – command sequence, 953 Wire-less power, 1519 – materials, 1393, 1489 Wireless video link, 1550, 1554, 1557 – movement, 1524 Wires, 63, 71, 1357, 1433, 1441, 1491, 1522, 1558, – products, 1384, 1389, 1464 2081, 2085 – speed, 1462, 1524 Wiring, 32 Webcams, 276 Wiring looms, 64 Web-enabled camera, 1072, 2126 WiT, 983 Web-like, 741 Witch ball, 213–214 Weighing, 44, 510 Withering, 63 Weight, 39, 55, 56 Within-class scatter matrix, 1092 Weighted-value smoothing, 739 Wollaston prism, 240, 1535, 1539 Weight estimation, 1296, 1304, 1307, 1314, 1315 Wood, 16, 39, 50, 57, 171, 172 Weight matrix, 580–582, 597, 716, 717, 719, 1601, – panelling, 70 1630, 1641, 1642, 1851, 1943 – panels, 63 Welding, 32, 45, 64, 510, 1498 – veneer, 63 Well-balanced meal, 1032 Work-control, 18 Well-being employees, 1333 Working hypothesis, 706 Welsh, 44, 74, 75, 134 Work practices, 540 Wet, 77 Worm infestation, 1424 Wet/oily objects, 1535 Woven lattice of split cane, 1894 Wet road, 1472, 1535 Woven textiles, 1381, 1528 Wheat grains, 789, 1272, 1280 Wratten, 444, 447, 473 Wheels, 1353, 1410, 1420, 1423, 1453, 1477–1478, 1496 Wrench, 1599, 1883 Wheel-spoke patterns,, 40, 320, 712, 1373, 1375, 1453, Writing image to disc, 951 1510, 1652 Whipped cream, 72 X White Xenon, 291, 297, 1244 – black spots, 817, 821 – flash, 126 – deluxe mercury, 314 – flash tubes, 297, 321 – linen, 1319 – plasma, 411 – phantoms, 815 Xilinx, 1107–1110, 1115, 1132 – pixels, 804, 805, 808–810, 819, 821–823, 827, 830, X-rays, 6, 14, 41, 56, 69, 71, 161, 168, 180, 322, 327, 838, 840, 842, 844, 860, 863–866 358, 407, 412–419, 434–435, 458, 471, 473, 474, – point, 439, 440, 456, 672 508–540, 546, 687, 1281, 1283, 1365, 1366, 1403, – streaks, 810, 813, 821, 841, 843 1406, 1411, 1413, 1415, 1424, 1501, 1504, 1555, White-black transitions, 1324 1557–1559, 1642, 1663, 1810, 1907, 1921 Whitewash, 177 – back-scatter, 530, 537 Whole car body, 1531 – band-pass filter, 519 Wicker-work web, 1625, 1626 – beam intensity, 539 Wide-angle lens, 613, 1358, 1524, 1531, 1548, 1550, 1560 – camera, 434–435 Wide moving web, 1353, 1441–1448 – crystallography, 417 Wide tolerances – detectors, 583 Widget, 321–323, 325, 479, 486, 489, 776, 1351–1560 – dose, 1557, 1559 Widget-to-camera distance, 1559, 1560 – filters, 511, 517–519 2272 Index

– fluorescence, 537 Yellow, 34, 44, 50, 668, 672, 674, 679, 680, – images, 54, 358, 412, 414, 416, 435, 471, 1355, 684–686, 690 1555–1559 YIQ, 988 – inspection, 41–42, 56, 1403, 1555, 1558, 1559 Young pretender, 1358 – lasers, 537, 538 YPrPb, 442 – mirrors, 41, 508 Y-shaped component, 2064 – sensors, 500 Y-shaped object, 929, 930, 939 – source, 41, 508, 517, 520, 525, 529, 539 Y-shaped part, 1599 – tube, 509, 512–515, 526, 1555 Yttrium oxysulphide, 516 X-ray-to-VIS conversion, 525 YUV, 442, 667, 689 xvYCC, 441 – model, 148, 149 X-Y arrays, 395 – tristimulus models, 666 XY normalisation, 988 YUV/YIQ, 148–149 X-Y stage, 1244, 1245, 1248 X-Y table, 1255 Z XYZ, 988 Z-direction, 626, 627, 629, 630 – colour coordinates, 441 Zero contrast, 1353, 1459–1460, 1505 – space, 438, 441 Zero-cross edge detector, 1610, 1741 – tristimulus, 443 Zero crossings, 552, 1324 – tristimulus space, 443 ZERODUR®, 181, 182, 209 Zero mean, 792, 1266 Y Zinc, 519 Yaw, 1419 Zooming by movement, 1355, 1560 YCbCr, 442 Zoom lens, 1415, 1543