Robot Vision





This book presents a coherent approach to the fast moving field of machine vision, using a consistent notation based on a detailed understanding of the image formation process. It covers even the most recent research and will provide a useful and current reference for professionals working in the fields of machine vision, image processing, and pattern recognition. An outgrowth of the author's course at MIT, Robot Vision presents a solid framework for understanding existing work and planning future research. Its coverage includes a great deal of material that important to engineers applying machine vision methods in the real world. The chapters on binary image processing, for example, help explain and suggest how to improve the many commercial devices now available. And the material on photometric stereo and the extended Gaussian image points the way to what may be the next thrust in commercialization of the results in this area. The many exercises complement and extend the material in the text, and an extensive bibliography will serve as a useful guide to current research.

ContentsImage Formation and Image Sensing •Binary Images: Geometrical Properties; Topological Properties • Regions and Image Segmentation • Image Processing: Continuous Images; Discrete Images • Edges and Edge Finding • Lightness and Color • Reflectance Map: Photometric Stereo Reflectance Map; Shape from Shading • Motion Field and Optical Flow • Photogrammetry and Stereo • Pattern Classification • Polyhedral Objects • Extended Gaussian Images • Passive Navigation and Structure from Motion • Picking Parts out of a Bin

Instructor Resources

Downloadable instructor resources available for this title: solution manual


Out of Print ISBN: 9780262081597 522 pp. | 6 in x 9 in


$19.75 X ISBN: 9780262537377 522 pp. | 6 in x 9 in


  • Robot Vision is an impressive excellent introduction to the field and the first book to thoroughly cover the mathematics of computer vision.

    Charles Thorpe

    American Scientist

  • A very good book indeed, probably the best currently available on robot vision and related topics....a valuable reference workfor researchers in this field.

    T.M. Husband

    Times Higher Education Supplement


  • Berthold K. P. Horn, a leading researcher in the area of human and machine vision for many years, has written an excellent textbook on the subject, which is emminently accessible to engineers, teachers, and scientists working in the vision area. The book follows a rigorous mathematical framework, beginning with the physics of image formation, and drawing on the most recent computational theories of human/machine perception of lightness, shape, movement, and depth, concluding with chapters devoted to realistic applications in automated navigation and industrial robotics.

    Al Bovik

    Department of Electrical and Computer Engineering, University of Texas at Austin

  • Robot Vision presents a coherent development, from image formation, through image analysis to scene analysis. The remarkable achievement of this book is that it serves both as a personal statement of the Horn school of vision and as a textbook. Every scientist and engineer involved with computational vision should read it, carefully!

    Alan K. Mackworth

    Professor, University of British Columbia

  • This book is an absolute must for any researcher claiming to be interested in computer vision.

    Eric L. Grimson

    Artificial Intelligence Laboratory, MIT