本书全面介绍了计算机视觉技术的基本原理、应用和最新进展，从计算机视觉的基础概念到复杂图像处理算法。本书共 11 章，第 1 章为计算机视觉概述，第 2 章介绍相关软硬件，第 3 章探讨图像的基本计算和变换，第 4 章讨论图像平滑与边缘提取，第 5 章讲解基于形态学的图像分析，第 6 章介绍图像分析，第 7 章为背景提取，第 8 章为图像特征检测与匹配，第 9 章为运动分析，第 10 章为视觉测量，第 11 章给出计算机视觉的 8 个应用案例。本书理论与实际应用相结合，通过实例和代码使读者获得实用技能，并紧跟计算机视觉技术的最新进展。本书既可作为高等院校计算机、自动化等专业的核心教材（建议 48 学时），也可供工业视觉工程师技术进阶使用。本书的配套资源包括 PPT、源代码和习题解答，读者可通过华信教育资源网免费下载。

奎晓燕，工学博士，二级教授，中南大学计算机学院博士研究生导师，曾任计算机学院副院长，邓迪国际学院副院长。现任中国教育和科研计算机网主干网长沙核心节点主任，全国高等学校计算机教育研究会青年教师工作委员会副主任，计算机“101计划”湖南省工作组专家，湖南省大学计算机教学指导委员会主任。研究方向为：机器视觉与医学图像处理、医疗大数据、医疗人工智能、智能医学影像分析、数据可视化与可视分析、教育信息化等。曾获宝钢优秀教师特等奖（2025年全国十强），教育部-华为“智能基座”优秀教师奖励计划（全国首届20人），教育部基础学科拔尖学生培养计划2.0优秀管理人员奖，教育部-华为智能基座“栋梁之师”，华为高斯传道授业杰出贡献奖，全国高等院校计算机基础教育研究会优秀教师奖（2022年全国七人之一），高等教育（本科）国家级教学成果奖二等奖（排2），全国生态文明信息化教学成果奖（排1），湖南省高等教育教学成果奖一等奖/二等奖/三等奖各1项，中国图象图形学学会高等教育教学成果奖二等奖1项（排1），湖南省计算机学会高等教育教学成果奖特等奖/一等奖各1项，思政案例获全国高等院校计算机基础教育研究会优秀课程思政教学案例奖，湖南省普通高校教师课堂教学竞赛一等奖，中南大学高等教育教学成果奖一等奖3项，发表CSSCI/EI等收录的教改论文30余篇，主编教材12部，参编10余部，主编出版“十二五”职业教育国家级规划教材1部，主持教育部新文科、教育部基础学科拔尖学生培养计划2.0研究课题等国家级教改项目6项，获电子工业出版社成立40周年教育出版杰出贡献者称号。

第 1 章 计算机视觉概述 ··············································································.1
1.1 计算机视觉简介 ·············································································.1
1.1.1 计算机视觉 ··········································································.1
1.1.2 计算机视觉系统的组成 ···························································.1
1.1.3 计算机视觉的基本原理 ···························································.2
1.1.4 计算机视觉的应用 ·································································.2
1.2 计算机视觉的演进 ··········································································.6
1.2.1 计算机视觉的发展简史 ···························································.6
1.2.2 计算机视觉的主要研究领域 ·····················································.8
1.2.3 计算机视觉主要的学术刊物和学术会议 ······································.9
本章小结 ·····························································································.9
本章习题 ·····························································································.9
第 2 章 相关软硬件简介 ·············································································.11
2.1 成像装置介绍 ···············································································.11
2.1.1 相机选型 ············································································.11
2.1.2 镜头选型 ············································································.12
2.1.3 光源介绍及选择 ···································································.13
2.2 OpenCV 入门 ················································································.16
2.2.1 OpenCV 介绍 ·······································································.16
2.2.2 OpenCV 的安装 ····································································.17
2.2.3 OpenCV 的基本数据结构························································.24
2.2.4 OpenCV 的基本功能 ······························································.27
2.2.5 OpenCV 的简单使用 ······························································.31
2.3 常用计算机视觉软件介绍 ································································.34
本章小结 ····························································································.38
本章习题 ····························································································.38
第 3 章 图像的基本计算和变换 ···································································.40
3.1 卷积 ···························································································.40
3.1.1 卷积的介绍 ·········································································.40
3.1.2 卷积的应用 ·········································································.40
3.1.3 OpenCV 中的线性滤波器························································.41
3.1.4 边界外推和边界处理 ·····························································.43
3.2 图像直方图 ··················································································.44
3.2.1 直方图的意义和计算方法 ·······················································.44
3.2.2 直方图均衡化 ······································································.47
3.2.3 直方图的比较 ······································································.49
3.2.4 一些复杂的直方图方法 ··························································.52
3.3 霍夫变换 ·····················································································.56
3.3.1 霍夫直线变换 ······································································.56
3.3.2 霍夫圆变换 ·········································································.61
3.3.3 OpenCV 中的 HoughCircles()函数 ·············································.62
3.4 重映射和仿射变换 ·········································································.63
3.4.1 重映射 ···············································································.63
3.4.2 仿射变换 ············································································.70
3.4.3 均匀调整 ············································································.76
3.4.4 图像金字塔 ·········································································.77
3.4.5 透视变换 ············································································.81
3.5 通用变换 ·····················································································.83
3.5.1 极坐标变换 ·········································································.84
3.5.2 对数极坐标变换 ···································································.85
3.6 图像修复与去噪技术 ······································································.87
3.6.1 图像修复 ············································································.87
3.6.2 图像去噪 ············································································.88
本章小结 ····························································································.92
本章习题 ····························································································.92
第 4 章 图像平滑与边缘提取 ······································································.93
4.1 平滑处理 ·····················································································.93
4.1.1 平滑处理的介绍 ···································································.93
4.1.2 均值滤波 ············································································.93
4.1.3 中值滤波 ············································································.95
4.1.4 高斯滤波 ············································································.97
4.1.5 双边滤波 ··········································································.100
4.1.6 平滑处理参考程序 ······························································.101
4.2 梯度滤波 ···················································································.102
4.2.1 Sobel 算子法 ·····································································.102
4.2.2 拉普拉斯（Laplacian）算子法 ···············································.108
4.2.3 Canny 算子法 ····································································.112
4.2.4 Scharr 算子法 ····································································.115
本章小结 ··························································································.117
本章习题 ··························································································.118
第 5 章 基于形态学的图像分析 ··································································.119
5.1 图像阈值化 ················································································.119
5.1.1 固定阈值 ··········································································.119
5.1.2 自适应阈值 ·······································································.125
5.1.3 使用 inRange 的阈值操作 ·····················································.127
5.2 图像形态学运算 ··········································································.128
5.2.1 二值图像的基本形态学运算 ··················································.128
5.2.2 开运算和闭运算 ·································································.131
5.2.3 顶帽运算和黑帽运算 ···························································.135
5.2.4 形态学梯度 ·······································································.137
5.2.5 核运算 ·············································································.138
5.2.6 图像形态学参考代码 ···························································.139
5.3 图像轮廓 ···················································································.140
5.3.1 提取轮廓 ··········································································.140
5.3.2 用多边形拟合轮廓 ······························································.143
5.3.3 计算图像的矩 ····································································.147
5.3.4 匹配轮廓与图像 ·································································.150
本章小结 ··························································································.151
本章习题 ··························································································.152
第 6 章 图像分析 ····················································································.153
6.1 离散傅里叶变换 ··········································································.153
6.1.1 离散傅里叶变换 dft()函数 ·····················································.154
6.1.2 离散傅里叶逆变换 idft()函数 ·················································.155
6.2 积分图 ······················································································.155
6.2.1 标准求和积分 integral()函数 ··················································.156
6.2.2 平方求和积分 integral()函数 ··················································.157
6.2.3 瓦块求和积分 integral()函数 ··················································.157
6.3 距离变换 ···················································································.157
6.3.1 无标记距离变换 distanceTransform()函数 ··································.157
6.3.2 有标记距离变换 distanceTransform()函数 ··································.158
6.4 图像分割 ···················································································.159
6.4.1 漫水填充 ··········································································.159
6.4.2 分水岭算法 ·······································································.161
6.4.3 GrabCut 算法 ·····································································.161
本章小结 ··························································································.163
本章习题 ··························································································.163
第 7 章 背景提取 ····················································································.164
7.1 背景提取概述 ·············································································.164
7.2 背景提取的缺点 ··········································································.164
7.3 场景建模 ···················································································.165
7.3.1 像素 ················································································.165
7.3.2 帧间差分 ··········································································.166
7.4 平均背景法 ················································································.168
7.4.1 累积图像 accumulate()函数 ····················································.169
7.4.2 帧图像差 absdiff()函数 ·························································.170
7.4.3 最大值 max()函数 ·······························································.171
本章小结 ··························································································.172
本章习题 ··························································································.173
第 8 章 图像特征检测与匹配 ·····································································.174
8.1 特征检测和描述 ··········································································.174
8.2 模板匹配 ···················································································.175
8.3 角点检测 ···················································································.178
8.3.1 Harris 角点检测 ··································································.178
8.3.2 Shi-Tomasi 角点检测 ···························································.181
8.4 特征点检测与匹配 ·······································································.182
8.4.1 特征点检测 ·······································································.183
8.4.2 特征匹配 ··········································································.190
本章小结 ··························································································.194
本章习题 ··························································································.195
第 9 章 运动分析 ····················································································.196
9.1 目标跟踪 ···················································································.196
9.2 背景减除 ···················································································.197
9.3 光流 ·························································································.200
9.4 均值移位和连续自适应均值移位 ·····················································.202
9.4.1 均值移位 ··········································································.202
9.4.2 连续自适应均值移位 ···························································.204
本章小结 ··························································································.205
本章习题 ··························································································.205
第 10 章 视觉测量 ··················································································.206
10.1 相机的标定和校准 ······································································.206
10.2 尺寸测量 ··················································································.211
10.3 角度测量 ··················································································.212
10.4 视觉测距 ··················································································.214
10.5 计算极线 ··················································································.216
10.6 立体校正和立体匹配 ···································································.217
10.6.1 立体校正 ·······································································.217
10.6.2 立体匹配 ·······································································.218
本章小结 ··························································································.221
本章习题 ··························································································.221
第 11 章 计算机视觉技术的应用案例 ··························································.222
11.1 物料轮廓、方向和中心识别 ··························································.222
11.2 条形码识别和二维码识别 ·····························································.224
11.2.1 条形码识别 ····································································.224
11.2.2 二维码识别 ····································································.226
11.3 车牌号码识别 ············································································.228
11.4 字符识别 ··················································································.232
11.5 表面缺陷检测 ············································································.235
11.6 数字识别 ··················································································.236
11.7 图像分类 ··················································································.243
11.8 目标检测 ··················································································.245
本章小结 ··························································································.251
本章习题 ··························································································.251