HANDBOOK OF
COMPUTER VISION AND APPLICATIONS
Volume 3
Systems and Applications
ACADEMIC PRESS
Bernd Jähne Horst Haußecker Peter Geißler
1 1
2 2 2
2 4
1 1
1 1
2 2 2
2 4
1 1
Handbook of Computer Vision and Applications
Volume 3
Systems and Applications
Handbook of Computer Vision and Applications
Volume 3
Systems and Applications
Editors Bernd Jähne
Interdisciplinary Center for Scientific Computing University of Heidelberg, Heidelberg, Germany
and
Scripps Institution of Oceanography University of California, San Diego
Horst Haußecker Peter Geißler
Interdisciplinary Center for Scientific Computing University of Heidelberg, Heidelberg, Germany
ACADEMIC PRESS
San Diego London Boston New York Sydney Tokyo Toronto
This book is printed on acid-free paper.
Copyright © 1999 by Academic Press.
All rights reserved.
No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher.
The appearance of code at the bottom of the first page of a chapter in this book indicates the Publisher’s consent that copies of the chapter may be made for personal or internal use of specific clients. This consent is given on the con- dition, however, that the copier pay the stated per-copy fee through the Copy- right Clearance Center, Inc. (222 Rosewood Drive, Danvers, Massachusetts 01923), for copying beyond that permitted by Sections 107 or 108 of the U.S.
Copyright Law. This consent does not extend to other kinds of copying, such as copying for general distribution, for advertising or promotional purposes, for creating new collective works, or for resale. Copy fees for pre-1999 chap- ters are as shown on the title pages; if no fee code appears on the title page, the copy fee is the same as for current chapters. ISBN 0-12-379770-5/$30.00
ACADEMIC PRESS
A Division of Harcourt Brace & Company
525 B Street, Suite 1900, San Diego, CA 92101-4495 http://www.apnet.com
ACADEMIC PRESS
24-28 Oval Road, London NW1 7DX, UK http://www.hbuk.co.uk/ap/
Library of Congress Cataloging-In-Publication Data
Handbook of computer vision and applications / edited by Bernd Jähne, Horst Haussecker, Peter Geissler.
p. cm.
Includes bibliographical references and indexes.
Contents: v. 1. Sensors and imaging — v. 2. Signal processing and pattern recognition — v. 3. Systems and applications.
ISBN 0–12–379770–5 (set). — ISBN 0–12–379771-3 (v. 1) ISBN 0–12–379772–1 (v. 2). — ISBN 0–12–379773-X (v. 3) 1. Computer vision — Handbooks, manuals. etc. I. Jähne, Bernd 1953– . II. Haussecker, Horst, 1968– . III. Geissler, Peter, 1966– . TA1634.H36 1999
006.307 — dc21 98–42541
CIP Printed in the United States of America
99 00 01 02 03 DS 9 8 7 6 5 4 3 2 1
Contents
Preface xv
Contributors xvii
1 Introduction 1
B. Jähne
1.1 Computer vision architecture . . . . 2
1.2 Classes of tasks. . . . 4
I Architecture of Computer Vision Systems 2 Field Programmable Gate Array Image Processing 9 K.-H. Noffz, R. Lay, R. Männer, and B. Jähne 2.1 Introduction . . . . 10
2.2 Field programmable gate arrays (FPGAs). . . . 11
2.3 FPGA-based image processing systems. . . . 15
2.4 Programming software for FPGA image processing . . . . 21
2.5 Application examples . . . . 26
2.6 Conclusions . . . . 29
2.7 References . . . . 30
3 Multimedia Architectures 31 B. Jähne and H. Herrmann 3.1 Introduction . . . . 32
3.2 Signal processing performance of microprocessors. . . . 33
3.3 Principles of SIMD signal processing . . . . 36
3.4 Comparative analysis of instruction sets. . . . 38
3.5 SIMD algorithms for signal processing . . . . 45
3.6 Conclusions and outlook. . . . 50
3.7 References . . . . 52
4 Customizable Medical Image Processing Systems 53 A. M. Demiris, C. E. Cardenas S., and H. P. Meinzer 4.1 Introduction . . . . 53
4.2 State of the art . . . . 57
4.3 Identifying development phases . . . . 58
4.4 Components of the architecture . . . . 60
4.5 Implementation of the architecture . . . . 70
4.6 Conclusions . . . . 74 v
vi Contents
4.7 Future work . . . . 74
4.8 References . . . . 75
5 Software Engineering for Image Processing and Analysis 77 D. Paulus, J. Hornegger, and H. Niemann 5.1 Introduction . . . . 78
5.2 Object-oriented software engineering. . . . 79
5.3 Programming languages for image processing . . . . 84
5.4 Image understanding . . . . 88
5.5 Class hierarchy for data and algorithms . . . . 91
5.6 Conclusion . . . . 99
5.7 References . . . . 100
6 Reusable Software in Computer Vision 103 U. Köthe 6.1 Introduction . . . . 104
6.2 Generic programming. . . . 107
6.3 Two-dimensional iterators . . . . 114
6.4 Image data accessors . . . . 118
6.5 Generic algorithms on images . . . . 120
6.6 Performance . . . . 127
6.7 Image iterator adapters. . . . 127
6.8 Conclusions . . . . 131
6.9 References . . . . 132
7 Application-oriented Assessment of CV Algorithms 133 P. Klausmann, S. Fries, D. Willersinn, U. Stilla, and U. Thönnessen 7.1 Introduction . . . . 133
7.2 Analytical versus empirical performance analysis. . . . 134
7.3 Application-oriented empirical algorithm assessment . . . . . 136
7.4 The assessment system. . . . 143
7.5 Example: Assessment of a detection algorithm . . . . 145
7.6 Conclusion . . . . 149
7.7 References . . . . 149
8 A Hybrid Neuro-AI-Architecture 153 G. Hartmann, U. Büker, and S. Drüe 8.1 Introduction . . . . 153
8.2 Holistic recognition of segmented 2-D objects . . . . 156
8.3 Holistic recognition of 3-D objects in real scenes . . . . 171
8.4 The hybrid neuro-artificial intelligence (AI) system . . . . 182
8.5 Conclusion . . . . 194
8.6 References . . . . 195
9 Active Vision Systems 197 B. Mertsching and S. Schmalz 9.1 Introduction . . . . 197
9.2 Marr’s theory and its drawbacks . . . . 198
9.3 Basic concepts of active vision . . . . 202
9.4 Examples for active vision environments . . . . 209
9.5 Applications for active vision devices. . . . 213
Contents vii
9.6 Conclusion . . . . 215
9.7 References . . . . 215
10 The Global Algebraic Frame of the Perception-Action Cycle 221 G. Sommer 10.1 Introduction . . . . 222
10.2 Design of behavior-based systems. . . . 223
10.3 Algebraic frames of higher-order entities . . . . 230
10.4 Applications of the algebraic framework. . . . 249
10.5 Summary and conclusions . . . . 259
10.6 References . . . . 260
II Industrial and Technical Applications 11 Market and Future Needs of Industrial Imaging 267 K. Singer 11.1 Introduction . . . . 267
11.2 Historical roots . . . . 268
11.3 Market overview . . . . 271
11.4 Economical situation . . . . 271
11.5 Mainstream technology used today . . . . 276
11.6 Future trends . . . . 277
11.7 Conclusions . . . . 279
11.8 References . . . . 282
12 Applications of Morphological Operators 283 P. Soille 12.1 Introduction . . . . 283
12.2 Geosciences . . . . 284
12.3 Material sciences . . . . 284
12.4 Biological and medical imaging. . . . 286
12.5 Industrial applications . . . . 287
12.6 Identification and security control. . . . 288
12.7 Document processing . . . . 289
12.8 Image coding . . . . 290
12.9 Other applications . . . . 290
12.10 References . . . . 291
13 Industrial Object Recognition 297 T. Wagner and P. Plankensteiner 13.1 Problem, market and solutions . . . . 297
13.2 Compact solution: intelligent cameras . . . . 300
13.3 Object recognition for many object types . . . . 305
13.4 Discussion and outlook. . . . 311
13.5 References . . . . 313
14 Character Recognition in Industrial Production 315 R. Koy-Oberthür, T. Münsterer, and S. Sun 14.1 Introduction . . . . 315
14.2 Codings . . . . 316
14.3 Code generation and code control . . . . 317
viii Contents
14.4 Functional principle and system setup . . . . 317
14.5 Examples of applications. . . . 321
14.6 References . . . . 328
15 Motion Tracking 329 R. Frischholz 15.1 Introduction . . . . 329
15.2 Flexible automatic motion tracking . . . . 333
15.3 Sample applications . . . . 340
15.4 Conclusion and remarks . . . . 343
15.5 References . . . . 344
16 3-D Image Metrology for Industrial Production 345 H. A. Beyer 16.1 Introduction . . . . 345
16.2 Geometry check of wing roots . . . . 347
16.3 Three-dimensional image metrology in shipbuilding . . . . 349
16.4 Machine control and TI2technology. . . . 351
16.5 Developments . . . . 354
16.6 Conclusions . . . . 357
16.7 References . . . . 357
17 Reverse Engineering Using Optical Range Sensors 359 S. Karbacher, G. Häusler, and H. Schönfeld 17.1 Introduction . . . . 360
17.2 Related work. . . . 362
17.3 Three-dimensional sensors . . . . 364
17.4 Calibration . . . . 364
17.5 Registration . . . . 365
17.6 Surface reconstruction . . . . 368
17.7 Surface modeling and smoothing . . . . 369
17.8 Examples . . . . 376
17.9 Conclusions . . . . 379
17.10 References . . . . 379
18 Topographical Maps of Microstructures 381 T. Scheuermann, G. Wiora and M. Graf 18.1 Introduction . . . . 382
18.2 Depth-from-focus approaches . . . . 382
18.3 System description. . . . 384
18.4 Optical theory . . . . 387
18.5 Reconstruction of topography . . . . 392
18.6 Systematic errors. . . . 397
18.7 Measurement of layer thickness . . . . 401
18.8 Applications . . . . 406
18.9 Conclusions . . . . 407
18.10 References . . . . 409
Contents ix
19 Processing of Digital Elevation Maps 411
P. Soille
19.1 Introduction . . . . 411
19.2 Geodesic interpolation of contour data. . . . 412
19.3 Drainage network detection . . . . 418
19.4 Watershed detection. . . . 424
19.5 Concluding remarks . . . . 425
19.6 References . . . . 426
20 3-D Modeling of Objects from Image Sequences 429 R. Koch 20.1 Introduction . . . . 429
20.2 System overview . . . . 431
20.3 Image acquisition and calibration . . . . 432
20.4 Stereoscopic depth estimation . . . . 434
20.5 Three-dimensional model building . . . . 440
20.6 Uncalibrated monocular sequences . . . . 445
20.7 Conclusions . . . . 448
20.8 References . . . . 448
21 Three-Dimensional Fast Full-Body Scanning 451 N. Stein and B. Minge 21.1 Introduction . . . . 451
21.2 Evaluation hardware and software. . . . 454
21.3 Mechanical design . . . . 455
21.4 Measuring process . . . . 456
21.5 Ranges of application . . . . 456
21.6 References . . . . 466
22 3-D Model-Driven Person Detection 467 B. Radig, O. Munkelt, C. Ridder, D. Hansel, and W. Hafner 22.1 Introduction . . . . 467
22.2 The object model. . . . 468
22.3 Appearance and its representation . . . . 471
22.4 Matching . . . . 475
22.5 Implementation. . . . 477
22.6 Applications . . . . 480
22.7 References . . . . 482
23 Single-Perspective 3-D Object Recognition 485 S. Lanser, C. Zierl, and B. Radig 23.1 Introduction . . . . 485
23.2 The MORAL object-recognition system . . . . 487
23.3 Applications . . . . 495
23.4 Conclusion . . . . 498
23.5 References . . . . 499
x Contents
24 Flexible Models of Human Faces 501
T. Vetter
24.1 Introduction . . . . 501
24.2 Automated learning of flexible face models. . . . 504
24.3 View synthesis . . . . 510
24.4 Conclusions . . . . 512
24.5 References . . . . 513
25 Knowledge-Based Image Retrieval 515 Th. Hermes, C. Klauck, and O. Herzog 25.1 Introduction . . . . 515
25.2 Overview . . . . 520
25.3 Object recognition . . . . 522
25.4 Examples . . . . 525
25.5 Conclusion . . . . 527
25.6 References . . . . 527
26 A Tactile Vision-Substitution System 531 M. Loose, T. Macher, J. Schemmel, K. Meier, and M. Keller 26.1 Introduction . . . . 531
26.2 Concept and realization . . . . 532
26.3 Results and prospects. . . . 540
26.4 References . . . . 541
27 The Neural Active Vision System NAVIS 543 B. Mertsching, M. Bollmann, R. Hoischen, and S. Schmalz 27.1 Introduction . . . . 544
27.2 Experimental platforms. . . . 545
27.3 Image preprocessing. . . . 547
27.4 Depth estimation. . . . 549
27.5 Visual attention. . . . 551
27.6 Object recognition . . . . 554
27.7 Motion estimation and object tracking . . . . 561
27.8 Conclusion . . . . 566
27.9 References . . . . 566
28 Dynamic Vision for Perception and Control of Motion 569 E. D. Dickmanns and H.-J. Wünsche 28.1 Introduction . . . . 570
28.2 Application areas discussed. . . . 577
28.3 Sensory information used . . . . 578
28.4 Dynamic perception with spatiotemporal models . . . . 580
28.5 Multiple loops in dynamic scene understanding . . . . 606
28.6 Experimental results. . . . 609
28.7 Conclusions and outlook. . . . 617
28.8 References . . . . 617
Contents xi III Scientific Applications
29 Size Distributions of Small Particles 623
P. Geißler and T. Scholz
29.1 Introduction . . . . 623
29.2 Depth-from-focus based measurements . . . . 624
29.3 Size distribution of air bubbles. . . . 626
29.4 In situ microscopy . . . . 639
29.5 Acknowledgments . . . . 645
29.6 References . . . . 645
30 Fluorescence Imaging of Air-Water Gas Exchange 647 S. Eichkorn, T. Münsterer, U. Lode, and B. Jähne 30.1 Introduction . . . . 647
30.2 Historical review . . . . 649
30.3 LIF measurements of concentration fields . . . . 650
30.4 Critical discussion and outlook. . . . 660
30.5 References . . . . 661
31 Particle-Tracking Velocimetry 663 D. Engelmann, M. Stöhr, C. Garbe, and F. Hering 31.1 Introduction . . . . 664
31.2 Visualization. . . . 665
31.3 Image processing for particle-tracking velocimetry . . . . 671
31.4 Stereo particle-tracking velocimetry. . . . 684
31.5 Conclusions . . . . 694
31.6 References . . . . 696
32 Analyzing Particle Movements at Soil Interfaces 699 H. Spies, O. Beringer, H. Gröning, and H. Haußecker 32.1 Introduction . . . . 700
32.2 Previous investigations . . . . 700
32.3 Experimental setup . . . . 701
32.4 Image analysis. . . . 704
32.5 Results . . . . 713
32.6 Conclusions and future activities . . . . 717
32.7 References . . . . 718
33 Plant-Leaf Growth 719 D. Schmundt and U. Schurr 33.1 Introduction . . . . 719
33.2 Previous investigations . . . . 720
33.3 Experimental setup . . . . 722
33.4 Image analysis. . . . 725
33.5 Stability and validation . . . . 730
33.6 Applications . . . . 732
33.7 Outlook . . . . 733
33.8 References . . . . 734
xii Contents
34 Mathematical Modeling of Ca2+-Fluorescence Images 737 D. Uttenweiler and R. H. A. Fink
34.1 Introduction . . . . 737
34.2 The necessity of modeling fluorescence images . . . . 738
34.3 The complex structure of muscle cells . . . . 740
34.4 Ca2+-measurements . . . . 741
34.5 Mathematical modeling . . . . 743
34.6 Simulated Ca2+-transients . . . . 746
34.7 Conclusions . . . . 748
34.8 References . . . . 749
35 Thermography for Small-Scale Air-Sea Interaction 751 U. Schimpf, H. Haußecker, and B. Jähne 35.1 Introduction . . . . 751
35.2 The controlled flux technique. . . . 752
35.3 Experimental setup . . . . 756
35.4 Calibration . . . . 757
35.5 Results and conclusions . . . . 759
35.6 References . . . . 761
36 Thermography to Measure Water Relations of Plant Leaves 763 B. Kümmerlen, S. Dauwe, D. Schmundt, and U. Schurr 36.1 Botanical background . . . . 763
36.2 Previous measurement techniques. . . . 765
36.3 Theoretical background . . . . 766
36.4 Measurements. . . . 772
36.5 Conclusion and further developments . . . . 780
36.6 References . . . . 781
37 Retrieval of Atmospheric Trace Gas Concentrations 783 C. Leue, M. Wenig, and U. Platt 37.1 Introduction . . . . 783
37.2 The global ozone monitoring experiment (GOME) . . . . 785
37.3 Retrieval of trace gas concentrations . . . . 787
37.4 Image interpolation . . . . 792
37.5 Determination of vertical columns. . . . 796
37.6 Results . . . . 802
37.7 References . . . . 805
38 Tracking “Fuzzy” Storms in Doppler Radar Images 807 J. L. Barron, R. E. Mercer, D. Cheng, and P. Joe 38.1 Introduction . . . . 807
38.2 Problems of storm tracking . . . . 808
38.3 Background: Zhang/Krezeski’s algorithms . . . . 809
38.4 Fuzzy storm centers. . . . 812
38.5 Incremental relaxation-labeling algorithm. . . . 814
38.6 An X-Window-based storm-visualization program. . . . 817
38.7 Experimental results. . . . 817
38.8 Conclusions . . . . 819
38.9 References . . . . 820
Contents xiii
39 Detection of Dendritic Spine Synapses 821
R. Watzel, W. Hilberg, H. Scheich, and K. Braun
39.1 Introduction . . . . 821
39.2 Data acquisition by confocal microscopy . . . . 823
39.3 Image restoration. . . . 824
39.4 Differential feature detection for segmentation . . . . 826
39.5 Topology preserving three-dimensional thinning . . . . 829
39.6 Graph construction and interpretation . . . . 831
39.7 Results . . . . 833
39.8 Discussion . . . . 834
39.9 References . . . . 837
40 Spectral Precision Distance Confocal Microscopy 839 C. Cremer, P. Edelmann, H. Bornfleth, G. Kreth, H. Muench, and M. Hausmann 40.1 The problem . . . . 839
40.2 Principles of spectral precision distance microscopy . . . . 845
40.3 Determination of the resolution equivalent in situ . . . . 852
40.4 Conclusions . . . . 855
40.5 References . . . . 855
41 Three-dimensional Analysis of Genome Topology 859 H. Bornfleth, P. Edelmann, D. Zink, and C. Cremer 41.1 Introduction . . . . 859
41.2 Analysis of large- and small-scale chromatin structure . . . . 863
41.3 Discussion and outlook. . . . 874
41.4 References . . . . 877
Index 879
xiv Contents
Preface
What this handbook is about
This handbook offers a fresh approach to computer vision. The whole vision process from image formation to measuring, recognition, or re- acting is regarded as an integral process. Computer vision is under- stood as the host of techniques to acquire, process, analyze, and un- derstand complex higher-dimensional data from our environment for scientific and technical exploration.
In this sense the handbook takes into account the interdisciplinary nature of computer vision with its links to virtually all natural sciences and attempts to bridge two important gaps. The first is between mod- ern physical sciences and the many novel techniques to acquire images.
The second is between basic research and applications. When a reader with a background in one of the fields related to computer vision feels he has learned something from one of the many other facets of com- puter vision, the handbook will have fulfilled its purpose.
The handbook comprises three volumes. The first volume, Sensors and Imaging, covers image formation and acquisition. The second vol- ume, Signal Processing and Pattern Recognition, focuses on processing of the spatial and spatiotemporal signal acquired by imaging sensors.
The third volume, Systems and Applications, describes how computer vision is integrated into systems and applications.
Prerequisites
It is assumed that the reader is familiar with elementary mathematical concepts commonly used in computer vision and in many other areas of natural sciences and technical disciplines. This includes the basics of set theory, matrix algebra, differential and integral equations, com- plex numbers, Fourier transform, probability, random variables, and graphing. Wherever possible, mathematical topics are described intu- itively. In this respect it is very helpful that complex mathematical relations can often be visualized intuitively by images. For a more for-
xv
xvi Preface
mal treatment of the corresponding subject including proofs, suitable references are given.
How to use this handbook
The handbook has been designed to cover the different needs of its readership. First, it is suitable for sequential reading. In this way the reader gets an up-to-date account of the state of computer vision. It is presented in a way that makes it accessible for readers with different backgrounds. Second, the reader can look up specific topics of inter- est. The individual chapters are written in a self-consistent way with extensive cross-referencing to other chapters of the handbook and ex- ternal references. The CD that accompanies each volume of the hand- book contains the complete text of the handbook in the Adobe Acrobat portable document file format (PDF). This format can be read on all major platforms. Free Acrobat reader version 3.01 for all major com- puting platforms is included on the CDs. The texts are hyperlinked in multiple ways. Thus the reader can collect the information of interest with ease. Third, the reader can delve more deeply into a subject with the material on the CDs. They contain additional reference material, interactive software components, code examples, image material, and references to sources on the Internet. For more details see the readme file on the CDs.
Acknowledgments
Writing a handbook on computer vision with this breadth of topics is a major undertaking that can succeed only in a coordinated effort that involves many co-workers. Thus the editors would like to thank first all contributors who were willing to participate in this effort. Their cooperation with the constrained time schedule made it possible that the three-volume handbook could be published in such a short period following the call for contributions in December 1997. The editors are deeply grateful for the dedicated and professional work of the staff at AEON Verlag & Studio who did most of the editorial work. We also express our sincere thanks to Academic Press for the opportunity to write this handbook and for all professional advice.
Last but not least, we encourage the reader to send us any hints on errors, omissions, typing errors, or any other shortcomings of the handbook. Actual information about the handbook can be found at the editors homepagehttp://klimt.iwr.uni-heidelberg.de.
Heidelberg, Germany and La Jolla, California, December 1998 Bernd Jähne, Horst Haußecker, Peter Geißler
Contributors
John Barron graduated from the University of Toronto, Ontario, Canada with an M.Sc. and PhD in Computer Sci- ence in 1980 and 1988, respectively. He is currently an associate professor in Computer Science at the Univer- sity of Western Ontario. His research interests are in Computer Vision and include the measurement and in- terpretation of both optical and range flow and tracking (deformable) objects in long image sequences.
John Barron, Dept. of Computer Science
Middlesex College, The University of Western Ontario, London, Ontario, N6A 5B7, Canada, barron@csd.uwo.ca Horst A. Beyer graduated from the Swiss Federal Insti- tute of Technology, Zurich, Switzerland with a Diploma and PhD in photogrammetry in 1982 and 1992, respec- tively and from the Ohio State University, Columbus, Ohio with a M.Sc. in Geodetic Science in 1985. He is founder and president of Imetric SA. His interests lie in vision based high accuracy three-dimensional measure- ments and camera calibration.
Horst A. Beyer, Imetric SA, Technopole CH-2900 Porrentry, Switzerland
imetric@dial.eunet.ch,http://www.imetric.com Maik Bollmann received his diploma in electrical engi- neering from the University of Paderborn in 1994. He has been a member of the IMA research group at the de- partment of computer science, University of Hamburg since 1994. His research interests include attentive vi- sion, models of visual attention, and color image pro- cessing. He is supported by the Deutsche Forschungsge- meinschaft.
Dipl.-Ing. Maik Bollmann, University of Hamburg Dept. of Computer Science, AG IMA
Vogt-Kölln-Str. 30, D-22527 Hamburg, Germany bollmann@informatik.uni-hamburg.de
http://ima-www.informatik.uni-hamburg.de/˜bollmann
xvii
xviii Contributors
Harald Bornfleth studied physics at the Universities of Mainz and Heidelberg, both in Germany, where he re- ceived his diploma degree in May 1995. During this time, he spent a year at Glasgow University, Great Britain, with an Erasmus grant from the European Union. From September 1995 to July 1998, he worked on his PhD thesis at the Institute of Applied Physics and the In- terdisciplinary Centre of Scientific Computing, Univer- sity of Heidelberg. The thesis centered on the devel- opment of algorithms to analyze three-dimensional and four-dimensional (3D+time) patterns formed by replication-labeled DNA foci in cell nuclei.
Dr. Harald Bornfleth, Institut für Angewandte Physik, Universität Heidelberg Albert-Überle-Str. 3-5, D-69120 Heidelberg, Germany
Harald.Bornfleth@IWR.Uni-Heidelberg.de
Katharina Braun received her diploma in biology and chemistry from Darmstadt University of Technology in 1980. From 1981 to 1987 she was research assistant at the Institute for Zoology at Darmstadt University, where she received her PhD in 1986. From 1988 to 1990 she was a postdoctoral fellow at the University of Washington. In 1991/92 she held a Helmholtz fellowship awarded from the German Ministry for Science and Technology (BMBF).
She became leader of an independent research group in 1993. In 1994 she received her habilitation for zoology from Darmstadt University.
Katharina Braun, Leibniz Institute for Neurobiology Brenneckestr. 6, 39118 Magdeburg, Germany braun@ifn-magdeburg.de
http://www.ifn-magdeburg.de
Ulrich Büker studied computer science and mathematics at the University of Paderborn and received his diploma in 1990. He then joined the computer vision group in Paderborn and got his doctoral degree in electri- cal engineering in 1995. Currently he holds the posi- tion of an Oberingenieur in Paderborn. His main re- search interests are active vision systems, knowledge- based and neural recognition strategies for hybrid sys- tems, and the use of parallel and distributed com- puting for the development of realtime vision sys- tems.
Dr.-Ing. Ulrich Büker, Heinz Nixdorf Institute Department of Electrical Engineering, University of Paderborn Pohlweg 47-49, D-33098 Paderborn, Germany
bueker@get.uni-paderborn.de
http://getwww.uni-paderborn.de/˜bueker
Contributors xix
Carlos Cárdenas holds a Dipl. Med. Inform. and is a PhD student in the basic research group. He has been a member of the medical IP group since 1996. His in- terests include graphical user interfaces, object-oriented development, and software ergonomics. He is a member of the IEEE and the BVMI.
Carlos E. Cárdenas S.
Div. Medical and Biological Informatics Deutsches Krebsforschungszentrum
Im Neuenheimer Feld 280, D-69120 Heidelberg http://mbi.dkfz-heidelberg.de/mbi/people/carlos.html
David Cheng recently completed both his Bachelor and Master degrees in Computer Science at the University of Western Ontario. He is currently a research program- mer for the nuclear medicine department at the London Health Sciences Centre.
David Cheng, Dept. of Nuclear Medicine The University of Western Ontario London, Ontario, N6A 5B7, Canada cheng@csd.uwo.ca
Christoph Cremer received degrees in Physics (Uni- versity of Munich, 1970), Biology (University of Frei- burg/Breisgau, 1976), and Human Genetics (University of Freiburg/Breisgau, 1983). Since October 1983 he has been Professor of Applied Optics and Information Processing at the University of Heidelberg, Faculty of Physics (Institute of Applied Physics). From 1970–1979 he worked at the Institute of Human Genetics, University of Freiburg; from 1980–1983 he worked at Lawrence Liv- ermore National Laboratory, California as a visiting sci- entist. His present research interests are concentrated on the study of the 3-D structure of the human cell nucleus and its dynam- ics, using advanced methods of multispectral molecular fluorescence labeling, laser-supported light microscopy including spectral distance precision mea- surement procedures, and multidimensional image processing tools.
Prof. Dr. Christoph Cremer, Institute of Applied Physics
University of Heidelberg, Albert-Überle-Str. 3-5, D-69120 Heidelberg, Germany cremer@popeye.aphys2.uni-heidelberg.de
xx Contributors
Stefan Dauwe graduated in 1997 from the University of Heidelberg with a Master degree in physics. Since 1998 he has been working at the Institute for Solar Energy Re- search (ISFH), Hameln/Emmerthal, Germany. Now pur- suing his PhD, he is working on the development of new, low-priced, crystalline Si solar cells.
Stefan Dauwe
Institut für Solarenergieforschung GmbH Am Ohrberg 1, 31860 Emmerthal, Germany S.Dauwe@isfh.de
Athanasios Demiris holds a Dipl. Med. Inform. and a PhD in medical informatics. He has been active in the area of object-oriented modeling since 1989 and a mem- ber of the medical IP group since 1992. His inter- ests involve object-oriented information architectures, image analysis, fuzzy logic, and cognition-based soft- ware ergonomics. He was involved in the HELIOS II AIM project and the “Computer-aided Liver Resection Planning” project (funded by the Tumorzentrum Heidel- berg/Mannheim). He is a member of the IEEE and the GI.
Athanasios M. Demiris
Div. Medical and Biological Informatics, Deutsches Krebsforschungszentrum Im Neuenheimer Feld 280, D-69120 Heidelberg, Germany
a.m.demiris@dkfz-heidelberg.de
http://mbi.dkfz-heidelberg.de/mbi/people/thanos.html
E. D. Dickmanns studied aerospace engineering at the RWTH Aachen from 1956-1961 and control engineering at Princeton University, NJ from 1964-1965. From 1961–
1975 he was a researcher with the German Aerospace Research Organisation DFVLR. He received his PhD in engineering from RWTH Aachen in 1969 and was a Post- doctoral Research Associate with NASA at the MSFC in Huntsville, AL, U.S. Since 1975 he has been full profes- sor for control engineering at the University of the Fed- eral Armed Forces of Germany, Munich (UniBwM), De- partment of Aero-Space Technology. Founder of the In- stitut für Systemdynamik und Flugmechanik (ISF) He was visiting professor at the California Institute of Technology in spring 1996 and at the Massachusetts Institute of Technology in fall 1998. His research sub- jects include dynamic machine vision; applications to road vehicle guidance, navigation of autonomously guided vehicles on the factory floor, landing ap- proach of aircraft, landmark navigation for helicopters, and robotics in space.
Prof. Dr. Ernst Dieter Dickmanns
Universität der Bundeswehr, München, D-85577 Neubibert, Germany Ernst.Dickmanns@unibw-muenchen.de
Contributors xxi
Siegbert Drüe received his diploma and doctoral de- gree in electrical engineering from the University of Paderborn in 1983 and 1988. Since 1988 he has been Akademischer Oberrat at the Department of Electrical Engineering, University of Paderborn. His research in- terests include computer vision, active vision systems, and artificial neural networks and their applications.
Dr.-Ing. Siegbert Drüe, Heinz Nixdorf Institute Department of Electrical Engineering
University of Paderborn
Pohlweg 47-49, D-33098 Paderborn, Germany druee@get.uni-paderborn.de
http://getwww.uni-paderborn.de/˜druee
Peter Ulrich Edelmann studied physics at the University of Ulm, Germany from October 1990 to October 1992.
Since then he has studied at the University of Heidel- berg, specializing in commercial information technology and digital image processing. He received the diploma degree in physics from Heidelberg University in Decem- ber of 1996. During his diploma thesis he worked on 3-D image analysis and reconstruction of the morphology of interphase chromosomes. Since January 1, 1997 he has been working on his PhD dissertation “Spectral Precision Distance Microscopy” in the Applied Optics and Informa- tion Processing group of Prof. C. Cremer.
Peter Ulrich Edelmann
Institut für Angewandte Physik, Universität Heidelberg Albert-Überle-Str. 3-5, D-69120 Heidelberg, Germany edelmann@popeye.aphys2.uni-heidelberg.de
Sven Eichkorn studied physics in Heidelberg, Germany and Santiago de Compostella, Spain. In 1997 he received his MSc degree. His thesis dealt with a LIF method to measure gas exchange. Currently he is doing research to acquire a PhD degree at the Max-Planck-Institute for Nu- clear Physics, Heidelberg. His research interests include atmospheric trace gas physics.
Sven Eichkorn, Atmospheric Physics Division, Max- Planck-Institute for Nuclear Physics, Saupfercheckweg 1 D-69117 Heidelberg, Germany
Phone: +49 6221 516-0, Fax: +49 6221 516 324 Sven.Eichkorn@mpi-hd.mpg.de
xxii Contributors
Dirk Engelmann studied physics at the Technical Uni- versity of Darmstadt, Germany. He is currently pursu- ing his PhD Thesis at the Interdisciplinary Center for Scientific Computing at Heidelberg University. His re- search topic is flow dynamics close air/water interface and his research interests include measurements of the flow field near the free water surface with the aid of 4- D Particle Tracking Velocimetry and numerical simula- tion of flow applying numerical finite element solvers on Navier Stokes partial differential equations.
Dirk Engelmann
Forschungsgruppe Bildverarbeitung, IWR Universität Heidelberg, Im Neuenheimer Feld 368
D-69120 Heidelberg, Germany
Dirk.Engelmann@iwr.uni-heidelberg.de
http://klimt.iwr.uni-heidelberg.de/˜dengel
Rainer H.A. Fink is a professor at the II. Institute of Phys- iology at the University of Heidelberg. His research inter- ests comprise calcium regulation, activation of contrac- tile force, membrane electrophysiology, and laser appli- cations in the biophysics of muscular contraction. He held research and teaching positions at the University of Washington, Seattle, WA, U.S., La Trobe University, Mel- bourne, and the University of Adelaide, Australia, before taking up his professorship in Heidelberg in 1990. He received his PhD in 1979 at the University of Bochum, Germany.
Prof. Dr. Rainer H.A. Fink, II. Physiologisches Institut Universität Heidelberg, Im Neuenheimer Feld 326 D-69120 Heidelberg, Germany
fink@novsrv1.pio1.uni-heidelberg.de
Stefan Fries studied physics at the Universities of Karls- ruhe and Augsburg, Germany. He worked at the Max- Planck-Institute for Plasma Physics in Garching, Germany on simulations in the field of electromagnetism. In 1996, he earned a diploma degree in physics from the Univer- sity of Augsburg. Since 1997 he has been a member of the research group on algorithm assessment at the Fraunhofer Institute for Information and Data Process- ing in Karlsruhe. His interests are the investigation of algorithm performance characteristics and the develop- ment of software tools to measure these quantities.
Dipl.-Phys. Stefan Fries
FhG-Institut für Informations- und Datenverarbeitung
Fraunhoferstr. 1, D-76131 Karlsruhe, Germany, fri@iitb.fhg.de
Contributors xxiii
Robert Frischholz studied computer science in Erlangen.
Since 1991 he was working for the Fraunhofer Institute IIS in the field of software development for high-speed cameras and motion analysis systems. From 1996 to 1998, he was the leader of the development department of Mikromak GmbH. In 1998 he received his doctoral de- gree from Erlangen University. Since August 1998, he is the development manager of DCS AG, Berlin-Erlangen, and is currently involved in research and development of biometric person identification.
Dr. Robert Frischholz, DCS AG, Wetterkreuz 19a D-91058 Erlangen, Germany
frz@dcs.de,http://www.bioid.com
Christoph Sebastian Garbe studied physics at the Uni- versity of Hamburg, Germany and the University of Hei- delberg, Germany and is currently pursuing his Diploma Thesis at the Interdisciplinary Center for Scientific Com- puting and the Institute for Environmental Physics in Hei- delberg. His research interests include measurements of the flow fields near the free water surface with the aid of 4-D Particle Tracking Velocimetry.
Christoph Sebastian Garbe
Forschungsgruppe Bildverarbeitung
Interdisciplinary Center for Scientific Computing Im Neuenheimer Feld 368, D-69120 Heidelberg, Germany Christoph.Garbe@iwr.uni-heidelberg.de
http://klimt.iwr.uni-heidelberg.de
Peter Geißler studied physics in Heidelberg. He received his diploma and doctoral degree from Heidelberg Uni- versity in 1994 and 1998, respectively. His research in- terests include computer vision, especially depth-from- focus, adaptive filtering, and flow visualization as well as the application of image processing in physical sciences and oceanography.
Dr. Peter Geißler
Forschungsgruppe Bildverarbeitung, IWR
Universität Heidelberg, Im Neuenheimer Feld 368 D-69120 Heidelberg, Germany
Peter.Geissler@iwr.uni-heidelberg.de http://klimt.iwr.uni-heidelberg.de
xxiv Contributors
Matthias Graf studied physics at the University of Karls- ruhe from 1991 to 1998. Between 1995 and 1997 he developed the topographical measurement system for layer thickness at the Fraunhofer Institut für Chemische Technologie (ICT) in Pfinztal, Germany. Since 1998 he has been working on his doctorate in the microwave pro- cessing group at the Institut für Kunststoffprüfung und Kunststoffkunde (IKP), University of Stuttgart, Germany.
Matthias Graf
Institut für Kunststoffprüfung und Kunststoffkunde (IKP), Pfaffenwaldring 32, D-70569 Stuttgart, Germany graf@ikp.uni-stuttgart.de, Matthias.Graf@t-online.de http://www.ikp.uni-stuttgart.de
Hermann Gröning graduated in 1996 from the Univer- sity of Heidelberg with a master degree in physics and is now pursuing his PhD at the Interdisciplinary Center for Scientific Computing. He is concerned mainly with radiometric and geometric camera calibration.
Hermann Gröning
Forschungsgruppe Bildverarbeitung, IWR Universität Heidelberg
Im Neuenheimer Feld 368 D-69120 Heidelberg, Germany
Hermann.Groening@iwr.uni-heidelberg.de
Gerd Häusler is adjunct professor, University of Erlan- gen, Chair for Optics, and director of the Optical Metrol- ogy Group. He received his diploma in 1970 and a doc- toral degree in 1974 from the Optical Institute, Techni- cal University Berlin. In 1974 he moved to the Chair for Applied Optics (later Chair for Optics), University of Er- langen. There he received his habilitation in 1982. As a doctoral fellow he worked with IBM (Sindelfingen), ENST Telecom (Paris), and RCA (Zürich). At the University of Munich and the RIKEN Institute in Tokyo he worked on optical and electronical image processing and nonlinear optical feedback systems. His current research interests include the investigation of the physical limits of range sensing and the con- struction of sensors that work at these limits and cover the nanometer to meter range, with applications in industry and medicine.
Prof. Dr. Gerd Häusler, Chair for Optics, Universität Erlangen-Nürnberg Staudtstraße 7/B2, D-91056 Erlangen, Germany
haeusler@physik.uni-erlangen.de
Contributors xxv
Georg Hartmann received his M.S. degree in physics from the University of Erlangen (1962) and after postgraduate studies of nuclear physics he received his PhD degree (1968). He was development engineer in the field of nu- clear instrumentation, radiometric measurement, and in- dustrial automation between 1968 and 1976, and head of development until 1979. Since then he joined the fac- ulty of Electrical Engineering at the University of Pader- born and has been a member of the governing board of the Heinz Nixdorf Institut, a center of interdisciplinary research in the field of computer science at Paderborn University. Between 1983 and 1987 he served as Vice President at this uni- versity. His field of research is computer vision, and since 1994 he has been President of the German Association for Pattern Recognition (DAGM).
Prof. Dr. Georg Hartmann, Heinz Nixdorf Institut
Universität Paderborn, Pohlweg 47-49, D-33098 Paderborn, Germany hartmann@get.uni-paderborn.de
http://getwww.uni-paderborn.de/˜hartmann
Michael Hausmann received his Diploma degree in Physics in 1984 and his PhD in 1988 (University of Heidel- berg). After his habilitation in 1996 he became deputy- leader of the research division “Applied Optics and Infor- mation Processing” at the Institute of Applied Physics, University of Heidelberg. His field of research is cen- tered around multi-dimensional flow cytometry, high- resolution light microscopy, digital image analysis, and multi-parameter immunobiological labeling techniques to study high-order chromatin structures.
Dr. Michael Hausmann
Institute of Applied Physics, University of Heidelberg Albert-Überle-Str. 3-5, 69120 Heidelberg, Germany hausmann@popeye.aphys2.uni-heidelberg.de
Thorsten Hermes received the B.Sc. degree in computer science, in 1989, and the M.Sc. degree (Diplom) in com- puter science from the University of Hamburg, Germany, in 1994. Currently he is working towards his PhD (tex- ture analysis) as a research scientist at the Center for Computing Technology at the University of Bremen. His research interests include computer vision, video analy- sis, neural networks, biological background of (human) vision, and content-based image retrieval.
Dipl.-Inform. Thorsten Hermes, Center for Computing Technology Image Processing Department
University of Bremen, P.O. Box 33 0440, D-28334 Bremen, Germany hermes@tzi.org,http://www.tzi.org/˜hermes
xxvi Contributors
Horst Haußecker studied physics in Heidelberg. He re- ceived his diploma in physics and his doctoral degree from Heidelberg University in 1994 and 1996, respec- tively. He was visiting scientist at the Scripps Institution of Oceanography in 1994. Currently he is conducting research in the image processing research group at the Interdisciplinary Center for Scientific Computing (IWR), where he also lectures on optical flow computation. His research interests include computer vision, especially image sequence analysis, infrared thermography, and fuzzy-image processing, as well as the application of im- age processing in physical sciences and oceanography.
Dr. Horst Haußecker, Forschungsgruppe Bildverarbeitung, IWR Universität Heidelberg, Im Neuenheimer Feld 368, D-69120 Heidelberg Horst.Haussecker@iwr.uni-heidelberg.de
http://klimt.iwr.uni-heidelberg.de
Frank Hering studied physics at the technical university of Clausthal and at the university of Heidelberg. He re- ceived his diploma and doctoral degree from Heidelberg University in 1993 and 1997. From 1993 until 1998 he headed the flow visualization team in Prof. Jähne’s re- search group at the Interdisciplinary Research Center for Scientific Computing, Heidelberg. His research interests include computer vision, image sequence analysis, and flow visualization. In 1998 he left the university and is now a member of the coordination team for logistics de- velopment at the SAP AG, Walldorf, Germany.
Dr. Frank Hering, Forschungsgruppe Bildverarbeitung, IWR
Universität Heidelberg, Im Neuenheimer Feld 368, D-69120 Heidelberg Frank.Hering@iwr.uni-heidelberg.deor Frank.Hering@sap-ag.de
Helmut Herrmann studied electrical engineering at the Technische Hochschule Darmstadt, Germany, and re- ceived his diploma in 1981. After some years in the industry, he began his study of computer sciences at the FernUniversität Hagen, Germany, and received his diploma in 1996. Since 1992 he has been working on the development team of the image processing software heurisko.
Helmut Herrmann, Department for Image Processing AEON Verlag & Studio Walter H. Dorn
Fraunhoferstraße 51 B, D-63454 Hanau, Germany Helmut.Herrmann@aeon.de,http://www.aeon.de
Contributors xxvii
Otthein Herzog holds a chair in the Department of Math- ematics and Computer Science at the University of Bre- men, where he is the head of the Artificial Intelligence Research Group and director of the Center for Comput- ing Technologies, a software-oriented technology trans- fer center within the University that he founded in 1995.
He graduated in Applied Mathematics at the University of Bonn, Germany in 1972 and received his PhD from the Computer Science Department at the University of Dortmund in 1976. From 1977 through 1993 he worked for IBM Germany in operating and communications sys- tems development, software engineering, and in research. From 1988 through 1992 he directed the Institute for Knowledge-Based Systems in the IBM Ger- many Science Center. From 1992 to 1993 he was a Senior Manager in the IBM Germany Software Development Laboratory. His current research inter- ests include digital libraries, knowledge-based image and video processing, agent-base software technologies, and the transfer of these technologies into real-world applications in the areas of multimedia, intelligent environmental systems, and logistics.
Prof. Dr. Otthein Herzog
Center for Computing Technology — Image Processing Department University of Bremen, P.O. Box 33 0440, D-28334 Bremen, Germany herzog@tzi.org,http://www.tzi.org/˜herzog
Wolfgang Hilberg received his diploma in electrical engi- neering, especially communications and high frequency.
From 1958 to 1963 he was research assistant at the Tele- funken Research Institute in Ulm, Germany. He received his PhD in 1963 at Darmstadt University of Technology.
Since 1972 he has been a professor at Darmstadt Univer- sity.
Prof. Dr. Wolfgang Hilberg, Fachgebiet Digitaltechnik Fachbereich 18, Elektrotechnik und Informationstechnik Technische Hochschule Darmstadt
Merckstr. 25, D-64283 Darmstadt, Germany hil@dtro.tu-darmstadt.de
Rainer Hoischen received his diploma in electrical engi- neering from University of Paderborn in 1993. He has been a member of the IMA research group at the depart- ment of computer science, University of Hamburg since 1994. His research interests include motion detection, motion estimation, and object tracking with active vision systems.
Dipl.-Ing. Rainer Hoischen Universität Hamburg
Fachbereich Informatik, AG IMA
Vogt-Kölln-Str. 30, D-22527 Hamburg, Germany hoischen@informatik.uni-hamburg.de
http://ima-www.informatik.uni-hamburg.de/˜hoischen
