Download the Full Version of textbook for Fast Typing at textbookfull.

com

Computer vision: theory, algorithms,

practicalities Fifth Edition Davies

https://textbookfull.com/product/computer-vision-theory-
algorithms-practicalities-fifth-edition-davies/

OR CLICK BUTTON

DOWNLOAD NOW

Download More textbook Instantly Today - Get Yours Now at textbookfull.com

 Recommended digital products (PDF, EPUB, MOBI) that
you can download immediately if you are interested.

Biota Grow 2C gather 2C cook Loucas

https://textbookfull.com/product/biota-grow-2c-gather-2c-cook-loucas/

textboxfull.com

Numerical Algorithms Methods for Computer Vision Machine

Learning and Graphics 1st Edition Justin Solomon

https://textbookfull.com/product/numerical-algorithms-methods-for-
computer-vision-machine-learning-and-graphics-1st-edition-justin-
solomon/
textboxfull.com

Advances in Computer Vision: Proceedings of the 2019

Computer Vision Conference (CVC), Volume 1 Kohei Arai

https://textbookfull.com/product/advances-in-computer-vision-
proceedings-of-the-2019-computer-vision-conference-cvc-volume-1-kohei-
arai/
textboxfull.com

Computer Vision Metrics Textbook Edition Scott Krig

(Auth.)

https://textbookfull.com/product/computer-vision-metrics-textbook-
edition-scott-krig-auth/

textboxfull.com
Fundamentals of Computer Vision 1st Edition Wesley E.
Snyder

https://textbookfull.com/product/fundamentals-of-computer-vision-1st-
edition-wesley-e-snyder/

textboxfull.com

Robotics Vision and Control Fundamental Algorithms In

MATLAB Peter Corke

https://textbookfull.com/product/robotics-vision-and-control-
fundamental-algorithms-in-matlab-peter-corke/

textboxfull.com

Probability theory and examples Fifth Edition Durrett

https://textbookfull.com/product/probability-theory-and-examples-
fifth-edition-durrett/

textboxfull.com

Computer Vision Technology for Food Quality Evaluation,

Second Edition Sun

https://textbookfull.com/product/computer-vision-technology-for-food-
quality-evaluation-second-edition-sun/

textboxfull.com

Computer Vision-Based Agriculture Engineering 1st Edition

Han Zhongzhi (Author)

https://textbookfull.com/product/computer-vision-based-agriculture-
engineering-1st-edition-han-zhongzhi-author/

textboxfull.com
Computer Vision
This page intentionally left blank
 Computer Vision
Principles, Algorithms,
Applications, Learning
Fifth Edition

E.R. Davies
Royal Holloway, University of London, United Kingdom
Academic Press is an imprint of Elsevier
125 London Wall, London EC2Y 5AS, United Kingdom
525 B Street, Suite 1800, San Diego, CA 92101-4495, United States
50 Hampshire Street, 5th Floor, Cambridge, MA 02139, United States
The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, United Kingdom

Copyright © 2018 Elsevier Inc. All rights reserved.

No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical,
including photocopying, recording, or any information storage and retrieval system, without permission in writing
from the publisher. Details on how to seek permission, further information about the Publisher’s permissions policies
and our arrangements with organizations such as the Copyright Clearance Center and the Copyright Licensing
Agency, can be found at our website: www.elsevier.com/permissions.

This book and the individual contributions contained in it are protected under copyright by the Publisher (other than
as may be noted herein).

Notices
Knowledge and best practice in this field are constantly changing. As new research and experience broaden our
understanding, changes in research methods, professional practices, or medical treatment may become necessary.

Practitioners and researchers must always rely on their own experience and knowledge in evaluating and using any
information, methods, compounds, or experiments described herein. In using such information or methods they
should be mindful of their own safety and the safety of others, including parties for whom they have a professional
responsibility.

To the fullest extent of the law, neither the Publisher nor the authors, contributors, or editors, assume any liability
for any injury and/or damage to persons or property as a matter of products liability, negligence or otherwise, or
from any use or operation of any methods, products, instructions, or ideas contained in the material herein.

British Library Cataloguing-in-Publication Data

A catalogue record for this book is available from the British Library

Library of Congress Cataloging-in-Publication Data

A catalog record for this book is available from the Library of Congress

ISBN: 978-0-12-809284-2

For Information on all Academic Press publications

visit our website at https://www.elsevier.com/books-and-journals

Publisher: Mara Conner

Acquisition Editor: Tim Pitts
Editorial Project Manager: Charlotte Kent
Production Project Manager: Sruthi Satheesh
Cover Designer: Greg Harris

Typeset by MPS Limited, Chennai, India

 This book is dedicated to my family.
To my late mother, Mary Davies, to record her never-failing love
and devotion.
To my late father, Arthur Granville Davies, who passed on to me
his appreciation of the beauties of mathematics and science.
To my wife, Joan, for love, patience, support, and inspiration.
To my children, Elizabeth, Sarah, and Marion, the music in my life.
To my grandchildren, Jasper, Jerome, Eva, and Tara, for constantly
reminding me of the carefree joys of youth!
This page intentionally left blank
Contents
About the Author....................................................................................................xxi
Foreword .............................................................................................................. xxiii
Preface to the Fifth Edition ...................................................................................xxv
Preface to the First Edition ................................................................................ xxvii
Acknowledgments ................................................................................................xxxi
Topics Covered in Application Case Studies .....................................................xxxv
Glossary of Acronyms and Abbreviations .........................................................xxxix

CHAPTER 1 Vision, the challenge.................................................... 1

1.1 Introduction—Man and His Senses ...............................................1
1.2 The Nature of Vision .....................................................................2
1.2.1 The Process of Recognition................................................ 2
1.2.2 Tackling the Recognition Problem ..................................... 4
1.2.3 Object Location................................................................... 6
1.2.4 Scene Analysis .................................................................... 9
1.2.5 Vision as Inverse Graphics ................................................. 9
1.3 From Automated Visual Inspection to Surveillance ...................10
1.4 What This Book Is About ............................................................12
1.5 The Part Played by Machine Learning ........................................13
1.6 The Following Chapters...............................................................14
1.7 Bibliographical Notes...................................................................15

PART 1 LOW-LEVEL VISION

CHAPTER 2 Images and imaging operations ................................. 19
2.1 Introduction ..................................................................................19
2.1.1 Gray Scale Versus Color .................................................. 21
2.2 Image Processing Operations.......................................................24
2.2.1 Some Basic Operations on Grayscale Images.................. 25
2.2.2 Basic Operations on Binary Images ................................. 29
2.3 Convolutions and Point Spread Functions...................................33
2.4 Sequential Versus Parallel Operations.........................................35
2.5 Concluding Remarks ....................................................................36
2.6 Bibliographical and Historical Notes...........................................37
2.7 Problems .......................................................................................37

vii
viii Contents

CHAPTER 3 Image filtering and morphology ................................. 39

3.1 Introduction ..................................................................................40
3.2 Noise Suppression by Gaussian Smoothing ................................42
3.3 Median Filters ..............................................................................44
3.4 Mode Filters .................................................................................46
3.5 Rank Order Filters........................................................................53
3.6 Sharp
Unsharp Masking .............................................................54
3.7 Shifts Introduced by Median Filters ............................................56
3.7.1 Continuum Model of Median Shifts................................. 57
3.7.2 Generalization to Grayscale Images ................................. 58
3.7.3 Discrete Model of Median Shifts ..................................... 60
3.8 Shifts Introduced by Rank Order Filters .....................................61
3.8.1 Shifts in Rectangular Neighborhoods............................... 62
3.9 The Role of Filters in Industrial Applications of Vision ............66
3.10 Color in Image Filtering ..............................................................68
3.11 Dilation and Erosion in Binary Images .......................................69
3.11.1 Dilation and Erosion ....................................................... 69
3.11.2 Cancellation Effects ........................................................ 69
3.11.3 Modified Dilation and Erosion Operators ...................... 70
3.12 Mathematical Morphology...........................................................70
3.12.1 Generalized Morphological Dilation .............................. 70
3.12.2 Generalized Morphological Erosion............................... 72
3.12.3 Duality Between Dilation and Erosion........................... 72
3.12.4 Properties of Dilation and Erosion Operators ................ 73
3.12.5 Closing and Opening ...................................................... 76
3.12.6 Summary of Basic Morphological Operations............... 78
3.13 Morphological Grouping..............................................................79
3.14 Morphology in Grayscale Images................................................84
3.15 Concluding Remarks ....................................................................86
3.16 Bibliographical and Historical Notes...........................................87
3.16.1 More Recent Developments............................................ 89
3.17 Problems .......................................................................................90

CHAPTER 4 The role of thresholding ............................................. 93

4.1 Introduction ..................................................................................93
4.2 Region-Growing Methods............................................................94
4.3 Thresholding.................................................................................95
4.3.1 Finding a Suitable Threshold............................................ 95
4.3.2 Tackling the Problem of Bias in Threshold
Selection ............................................................................ 97
 Contents ix

4.4 Adaptive Thresholding.................................................................97

4.4.1 Local Thresholding Methods ............................................ 98
4.5 More Thoroughgoing Approaches to Threshold Selection .......101
4.5.1 Variance-Based Thresholding......................................... 101
4.5.2 Entropy-Based Thresholding .......................................... 104
4.5.3 Maximum Likelihood Thresholding............................... 105
4.6 The Global Valley Approach to Thresholding ..........................106
4.7 Practical Results Obtained Using the Global Valley
Method........................................................................................108
4.8 Histogram Concavity Analysis ..................................................113
4.9 Concluding Remarks ..................................................................115
4.10 Bibliographical and Historical Notes.........................................116
4.10.1 More Recent Developments.......................................... 117
4.11 Problems .....................................................................................118

CHAPTER 5 Edge detection .......................................................... 119

5.1 Introduction ................................................................................119
5.2 Basic Theory of Edge Detection................................................120
5.3 The Template Matching Approach ............................................123
5.4 Theory of 3 3 3 Template Operators.........................................123
5.5 The Design of Differential Gradient Operators.........................125
5.6 The Concept of a Circular Operator ..........................................126
5.7 Detailed Implementation of Circular Operators ........................127
5.8 The Systematic Design of Differential Edge Operators............130
5.9 Problems with the Above Approach—Some Alternative
Schemes ......................................................................................130
5.10 Hysteresis Thresholding .............................................................134
5.11 The Canny Operator...................................................................136
5.12 The Laplacian Operator .............................................................139
5.13 Concluding Remarks ..................................................................143
5.14 Bibliographical and Historical Notes.........................................144
5.14.1 More Recent Developments.......................................... 145
5.15 Problems .....................................................................................145

CHAPTER 6 Corner, interest point, and invariant feature

detection ................................................................... 147
6.1 Introduction ................................................................................147
6.2 Template Matching ....................................................................148
6.3 Second-Order Derivative Schemes ............................................149
x Contents

6.4 A Median Filter
based Corner Detector ..................................151

6.4.1 Analyzing the Operation of the Median Detector.......... 152
6.4.2 Practical Results.............................................................. 154
6.5 The Harris Interest Point Operator ............................................156
6.5.1 Corner Signals and Shifts for Various Geometric
Configurations................................................................. 159
6.5.2 Performance with Crossing Points and
T-junctions ...................................................................... 160
6.5.3 Different Forms of the Harris Operator.......................... 163
6.6 Corner Orientation......................................................................164
6.7 Local Invariant Feature Detectors and Descriptors...................166
6.7.1 Geometric Transformations and Feature
Normalization.................................................................. 167
6.7.2 Harris Scale and Affine Invariant Detectors and
Descriptors ...................................................................... 169
6.7.3 Hessian Scale and Affine Invariant Detectors and
Descriptors ...................................................................... 171
6.7.4 The Scale Invariant Feature Transforms
Operator........................................................................... 171
6.7.5 The Speeded-Up Robust Features
Operator........................................................................... 172
6.7.6 Maximally Stable Extremal Regions.............................. 174
6.7.7 Comparison of the Various Invariant Feature
Detectors.......................................................................... 175
6.7.8 Histograms of Oriented Gradients .................................. 177
6.8 Concluding Remarks ..................................................................179
6.9 Bibliographical and Historical Notes.........................................180
6.9.1 More Recent Developments............................................ 182
6.10 Problems .....................................................................................183

CHAPTER 7 Texture analysis........................................................ 185

7.1 Introduction ................................................................................185
7.2 Some Basic Approaches to Texture Analysis ...........................188
7.3 Graylevel Co-occurrence Matrices ............................................190
7.4 Laws’ Texture Energy Approach...............................................193
7.5 Ade’s Eigenfilter Approach .......................................................195
7.6 Appraisal of the Laws and Ade Approaches .............................197
7.7 Concluding Remarks ..................................................................198
7.8 Bibliographical and Historical Notes.........................................199
7.8.1 More Recent Developments............................................ 200
 Contents xi

PART 2 INTERMEDIATE-LEVEL VISION

CHAPTER 8 Binary shape analysis............................................... 203
8.1 Introduction ................................................................................203
8.2 Connectedness in Binary Images ...............................................204
8.3 Object Labeling and Counting...................................................205
8.3.1 Solving the Labeling Problem in a More
Complex Case ................................................................. 209
8.4 Size Filtering ..............................................................................212
8.5 Distance Functions and Their Uses ...........................................214
8.5.1 Local Maxima and Data Compression ........................... 216
8.6 Skeletons and Thinning..............................................................218
8.6.1 Crossing Number ............................................................ 219
8.6.2 Parallel and Sequential Implementations
of Thinning...................................................................... 221
8.6.3 Guided Thinning ............................................................. 224
8.6.4 A Comment on the Nature of the Skeleton.................... 224
8.6.5 Skeleton Node Analysis.................................................. 225
8.6.6 Application of Skeletons for Shape Recognition ........... 227
8.7 Other Measures for Shape Recognition.....................................227
8.8 Boundary Tracking Procedures..................................................230
8.9 Concluding Remarks ..................................................................231
8.10 Bibliographical and Historical Notes.........................................232
8.10.1 More Recent Developments.......................................... 233
8.11 Problems .....................................................................................234

CHAPTER 9 Boundary pattern analysis ........................................ 239

9.1 Introduction ................................................................................239
9.2 Boundary Tracking Procedures..................................................242
9.3 Centroidal Profiles......................................................................242
9.4 Problems with the Centroidal Profile Approach .......................243
9.4.1 Some Solutions ............................................................... 245
9.5 The (s,ψ) Plot .............................................................................247
9.6 Tackling the Problems of Occlusion .........................................249
9.7 Accuracy of Boundary Length Measures ..................................252
9.8 Concluding Remarks ..................................................................253
9.9 Bibliographical and Historical Notes.........................................254
9.9.1 More Recent Developments............................................ 255
9.10 Problems .....................................................................................256
xii Contents

CHAPTER 10 Line, circle, and ellipse detection........................... 259

10.1 Introduction ................................................................................259
10.2 Application of the Hough Transform to Line Detection...........261
10.2.1 Longitudinal Line Localization .................................... 264
10.3 The Foot-of-Normal Method .....................................................265
10.3.1 Application of the Foot-of-Normal Method................. 266
10.4 Using RANSAC for Straight Line Detection ............................267
10.5 Location of Laparoscopic Tools ................................................272
10.6 Hough-Based Schemes for Circular Object Detection..............273
10.7 The Problem of Unknown Circle Radius ..................................278
10.7.1 Practical Results............................................................ 279
10.8 Overcoming the Speed Problem ................................................279
10.8.1 Practical Results............................................................ 281
10.9 Ellipse Detection ........................................................................284
10.9.1 The Diameter Bisection Method .................................. 284
10.9.2 The Chord
Tangent Method........................................ 286
10.9.3 Finding the Remaining Ellipse Parameters .................. 287
10.10 Human Iris Location ..................................................................289
10.11 Concluding Remarks ..................................................................290
10.12 Bibliographical and Historical Notes.........................................292
10.12.1 More Recent Developments........................................ 294
10.13 Problems .....................................................................................295

CHAPTER 11 The generalized Hough transform............................ 299

11.1 Introduction ................................................................................299
11.2 The Generalized Hough Transform ...........................................300
11.3 The Relevance of Spatial Matched Filtering.............................302
11.4 Gradient Weighting Versus Uniform Weighting.......................304
11.4.1 Calculation of Sensitivity and Computational Load .... 306
11.4.2 Summary ....................................................................... 307
11.5 Use of the GHT for Ellipse Detection.......................................308
11.5.1 Practical Details ............................................................ 310
11.6 Comparing the Various Methods for Ellipse Detection............312
11.7 A Graph-Theoretic Approach to Object Location.....................314
11.7.1 A Practical Example—Locating Cream Biscuits ......... 318
11.8 Possibilities for Saving Computation ........................................319
11.9 Using the GHT for Feature Collation........................................323
11.9.1 Computational Load...................................................... 325
11.10 Generalizing the Maximal Clique and Other Approaches ........326
11.11 Search .........................................................................................327
 Contents xiii

11.12 Concluding Remarks ..................................................................328

11.13 Bibliographical and Historical Notes.........................................329
11.13.1 More Recent Developments........................................ 333
11.14 Problems .....................................................................................334

CHAPTER 12 Object segmentation and shape models .................. 341

12.1 Introduction ................................................................................341
12.2 Active Contours..........................................................................342
12.3 Practical Results Obtained Using Active Contours...................344
12.4 The Level-Set Approach to Object Segmentation.....................346
12.5 Shape Models .............................................................................348
12.5.1 Locating Objects Using Shape Models ........................ 353
12.6 Concluding Remarks ..................................................................359
12.7 Bibliographical and Historical Notes.........................................360

PART 3 MACHINE LEARNING AND DEEP LEARNING

NETWORKS
CHAPTER 13 Basic classification concepts .................................. 365
13.1 Introduction ................................................................................365
13.2 The Nearest Neighbor Algorithm ..............................................367
13.3 Bayes’ Decision Theory.............................................................369
13.3.1 The Naı̈ve Bayes’ Classifier ......................................... 371
13.4 Relation of the Nearest Neighbor and Bayes’ Approaches ......372
13.4.1 Mathematical Statement of the Problem ...................... 372
13.4.2 The Importance of the Nearest Neighbor
Algorithm ...................................................................... 374
13.5 The Optimum Number of Features............................................375
13.6 Cost Functions and Error
Reject Tradeoff...............................376
13.7 Supervised and Unsupervised Learning ....................................377
13.8 Cluster Analysis .........................................................................379
13.9 The Support Vector Machine.....................................................381
13.10 Artificial Neural Networks.........................................................383
13.11 The Back-Propagation Algorithm..............................................388
13.12 Multilayer Perceptron Architectures..........................................391
13.13 Overfitting to the Training Data ................................................392
13.14 Concluding Remarks ..................................................................395
13.15 Bibliographical and Historical Notes.........................................396
13.15.1 More Recent Developments........................................ 398
13.16 Problems .....................................................................................398
xiv Contents

CHAPTER 14 Machine learning: probabilistic methods................ 399

14.1 Introduction ................................................................................399
14.2 Mixtures of Gaussians and the EM Algorithm..........................402
14.2.1 Details of the Expectation Maximization
Algorithm ...................................................................... 405
14.3 A More General View of the EM Algorithm............................408
14.4 Some Practical Examples...........................................................411
14.5 Principal Components Analysis .................................................419
14.6 Multiple Classifiers ....................................................................422
14.7 The Boosting Approach .............................................................425
14.8 Modeling AdaBoost ...................................................................428
14.8.1 Real AdaBoost .............................................................. 430
14.9 Loss Functions for Boosting ......................................................431
14.10 The LogitBoost Algorithm.........................................................435
14.11 The Effectiveness of Boosting ...................................................438
14.12 Boosting with Multiple Classes .................................................438
14.13 The Receiver Operating Characteristic......................................443
14.13.1 Performance Measures Relating to
Error Rates .................................................................. 446
14.14 Concluding Remarks ..................................................................447
14.15 Bibliographical and Historical Notes.........................................448
14.16 Problems .....................................................................................451

CHAPTER 15 Deep-learning networks............................................ 453

15.1 Introduction ................................................................................453
15.2 Convolutional Neural Networks ................................................456
15.3 Parameters for Defining CNN Architectures.............................459
15.4 LeCun et al.’s LeNet Architecture ............................................463
15.5 Krizhevsky et al.’s AlexNet Architecture .................................468
15.6 Zeiler and Fergus’s Work on CNN Architectures.....................474
15.7 Zeiler and Fergus’s Visualization Experiments ........................477
15.8 Simonyan and Zisserman’s VGGNet Architecture ...................479
15.9 Noh et al.’s DeconvNet Architecture ........................................481
15.10 Badrinarayanan et al.’s SegNet Architecture ............................484
15.11 Recurrent Neural Networks .......................................................487
15.12 Concluding Remarks ..................................................................490
15.13 Bibliographical and Historical Notes.........................................492
 Contents xv

PART 4 3D VISION AND MOTION

CHAPTER 16 The three-dimensional world ................................... 497
16.1 Introduction ................................................................................497
16.2 Three-Dimensional Vision—The Variety of Methods..............498
16.3 Projection Schemes for Three-Dimensional Vision ..................500
16.3.1 Binocular Images .......................................................... 502
16.3.2 The Correspondence Problem....................................... 504
16.4 Shape from Shading ...................................................................506
16.5 Photometric Stereo .....................................................................511
16.6 The Assumption of Surface Smoothness...................................514
16.7 Shape from Texture....................................................................515
16.8 Use of Structured Lighting ........................................................516
16.9 Three-Dimensional Object Recognition Schemes.....................518
16.10 Horaud’s Junction Orientation Technique .................................519
16.11 An Important Paradigm—Location of Industrial Parts .............523
16.12 Concluding Remarks ..................................................................525
16.13 Bibliographical and Historical Notes.........................................526
16.13.1 More Recent Developments........................................ 528
16.14 Problems .....................................................................................529

CHAPTER 17 Tackling the perspective n-point problem............... 533

17.1 Introduction ................................................................................533
17.2 The Phenomenon of Perspective Inversion ...............................534
17.3 Ambiguity of Pose Under Weak Perspective Projection ..........535
17.4 Obtaining Unique Solutions to the Pose Problem.....................538
17.4.1 Solution of the Three-Point Problem............................ 542
17.4.2 Using Symmetric Trapezia for Estimating Pose .......... 543
17.5 Concluding Remarks ..................................................................544
17.6 Bibliographical and Historical Notes.........................................545
17.6.1 More Recent Developments.......................................... 546
17.7 Problems .....................................................................................547

CHAPTER 18 Invariants and perspective ....................................... 549

18.1 Introduction ................................................................................549
18.2 Cross Ratios: The “Ratio of Ratios” Concept ...........................551
18.3 Invariants for Noncollinear Points .............................................555
18.3.1 Further Remarks About the 5-Point Configuration...... 558
18.4 Invariants for Points on Conics..................................................559
xvi Contents

18.5 Differential and Semidifferential Invariants..............................561

18.6 Symmetric Cross-Ratio Functions .............................................564
18.7 Vanishing Point Detection .........................................................565
18.8 More on Vanishing Points .........................................................568
18.9 Apparent Centers of Circles and Ellipses..................................569
18.10 Perspective Effects in Art and Photography..............................572
18.11 Concluding Remarks ..................................................................579
18.12 Bibliographical and Historical Notes.........................................581
18.12.1 More Recent Developments........................................ 582
18.13 Problems .....................................................................................583

CHAPTER 19 Image transformations and camera calibration ...... 585

19.1 Introduction ................................................................................585
19.2 Image Transformations ..............................................................586
19.3 Camera Calibration ....................................................................590
19.4 Intrinsic and Extrinsic Parameters .............................................592
19.5 Correcting for Radial Distortions ..............................................595
19.6 Multiple View Vision.................................................................597
19.7 Generalized Epipolar Geometry ................................................598
19.8 The Essential Matrix ..................................................................599
19.9 The Fundamental Matrix............................................................601
19.10 Properties of the Essential and Fundamental Matrices .............602
19.11 Estimating the Fundamental Matrix ..........................................603
19.12 An Update on the Eight-Point Algorithm..................................603
19.13 Image Rectification ....................................................................604
19.14 3-D Reconstruction ....................................................................605
19.15 Concluding Remarks ..................................................................608
19.16 Bibliographical and Historical Notes.........................................608
19.16.1 More Recent Developments........................................ 609
19.17 Problems .....................................................................................610

CHAPTER 20 Motion ....................................................................... 611

20.1 Introduction ................................................................................611
20.2 Optical Flow ...............................................................................612
20.3 Interpretation of Optical Flow Fields ........................................615
20.4 Using Focus of Expansion to Avoid Collision..........................617
20.5 Time-to-Adjacency Analysis......................................................618
20.6 Basic Difficulties with the Optical Flow Model .......................620
20.7 Stereo from Motion ....................................................................621
 Contents xvii

20.8 The Kalman Filter ......................................................................623

20.9 Wide Baseline Matching............................................................625
20.10 Concluding Remarks ..................................................................627
20.11 Bibliographical and Historical Notes.........................................627
20.12 Problem.......................................................................................628

PART 5 PUTTING COMPUTER VISION TO WORK

CHAPTER 21 Face detection and recognition: the impact
of deep learning........................................................ 631
21.1Introduction ................................................................................631
21.2A Simple Approach to Face Detection......................................632
21.3Facial Feature Detection ............................................................634
21.4The Viola
Jones Approach to Rapid Face Detection ..............636
21.5The Eigenface Approach to Face Recognition..........................640
21.6More on the Difficulties of Face Recognition...........................643
21.7Frontalization..............................................................................645
21.8The Sun et al. DeepID Face Representation System ................649
21.9Fast Face Detection Revisited....................................................654
21.9.1 Even More Powerful Object Detection
Schemes......................................................................... 656
21.10 The Face as Part of a 3-D Object ..............................................657
21.11 Concluding Remarks ..................................................................659
21.12 Bibliographical and Historical Notes.........................................661

CHAPTER 22 Surveillance .............................................................. 663

22.1 Introduction ................................................................................664
22.2 Surveillance—The Basic Geometry ..........................................665
22.3 Foreground
Background Separation ........................................669
22.3.1 Background Modeling................................................... 669
22.3.2 Practical Examples of Background Modeling.............. 675
22.3.3 Direct Detection of the Foreground.............................. 677
22.4 Particle Filters ............................................................................678
22.5 Use of Color Histograms for Tracking......................................684
22.6 Implementation of Particle Filters .............................................688
22.7 Chamfer Matching, Tracking, and Occlusion ...........................691
22.8 Combining Views from Multiple Cameras ...............................693
22.8.1 The Case of Nonoverlapping Fields of View............... 697
xviii Contents

22.9 Applications to the Monitoring of Traffic Flow .......................698

22.9.1 The System of Bascle et al........................................... 698
22.9.2 The System of Koller et al. .......................................... 700
22.10 License Plate Location ...............................................................702
22.11 Occlusion Classification for Tracking .......................................705
22.12 Distinguishing Pedestrians by Their Gait ..................................708
22.13 Human Gait Analysis .................................................................711
22.14 Model-based Tracking of Animals ............................................713
22.15 Concluding Remarks ..................................................................716
22.16 Bibliographical and Historical Notes.........................................717
22.16.1 More Recent Developments........................................ 719
22.17 Problem.......................................................................................720

CHAPTER 23 In-vehicle vision systems ......................................... 721

23.1 Introduction ................................................................................721
23.2 Locating the Roadway ...............................................................723
23.3 Location of Road Markings .......................................................725
23.4 Location of Road Signs..............................................................726
23.5 Location of Vehicles ..................................................................728
23.6 Information Obtained by Viewing License Plates
and Other Structural Features ....................................................731
23.7 Locating Pedestrians ..................................................................734
23.8 Guidance and Egomotion...........................................................739
23.8.1 A Simple Path-Planning Algorithm.............................. 742
23.9 Vehicle Guidance in Agriculture ...............................................742
23.9.1 3-D Aspects of the Task ............................................... 746
23.9.2 Real-Time Implementation ........................................... 747
23.10 Concluding Remarks ..................................................................747
23.11 More Detailed Developments and Bibliographies
Relating to Advanced Driver Assistance Systems ....................749
23.11.1 Developments in Vehicle Detection ........................... 750
23.11.2 Developments in Pedestrian Detection....................... 752
23.11.3 Developments in Road and Lane Detection............... 754
23.11.4 Developments in Road Sign Detection ...................... 755
23.11.5 Developments in Path Planning, Navigation,
and Egomotion ............................................................ 757
23.12 Problem.......................................................................................757
 Contents xix

CHAPTER 24 Epilogue—Perspectives in vision ............................ 759

24.1 Introduction ................................................................................759
24.2 Parameters of Importance in Machine Vision ...........................760
24.3 Tradeoffs.....................................................................................762
24.3.1 Some Important Tradeoffs ............................................ 762
24.3.2 Tradeoffs for Two-Stage Template Matching.............. 763
24.4 Moore’s Law in Action..............................................................764
24.5 Hardware, Algorithms, and Processes .......................................765
24.6 The Importance of Choice of Representation............................766
24.7 Past, Present, and Future............................................................767
24.8 The Deep Learning Explosion ...................................................768
24.9 Bibliographical and Historical Notes.........................................769

Appendix A: Robust statistics ...............................................................................771

Appendix B: The sampling theorem .....................................................................789
Appendix C: The representation of color .............................................................793
Appendix D: Sampling from distributions............................................................797
References..............................................................................................................801
Index ......................................................................................................................847
This page intentionally left blank
About the Author
Roy Davies is Emeritus Professor of Machine Vision at
Royal Holloway, University of London, United Kingdom.
He has worked on many aspects of vision, from feature
detection and noise suppression to robust pattern
matching and real-time implementations of practical
vision tasks. His interests include automated visual
inspection, surveillance, vehicle guidance, and crime
detection. He has published more than 200 papers and
three books—Machine Vision: Theory, Algorithms,
Practicalities (1990), Electronics, Noise and Signal
Recovery (1993), and Image Processing for the Food
Industry (2000); the first of these has been widely used internationally for more
than 25 years, and is now out in this much enhanced fifth edition. Roy is a fellow
of the IoP and the IET, and a senior member of the IEEE. He is on the Editorial
Boards of Pattern Recognition Letters, Real-Time Image Processing, Imaging
Science, and IET Image Processing. He holds a DSc from the University of
London, he was awarded BMVA Distinguished Fellow in 2005, and Fellow of the
International Association of Pattern Recognition in 2008.

xxi
This page intentionally left blank
Foreword
It is an honor to write a foreword for Roy Davies’ new edition of Computer and
Machine Vision, now entitled Computer Vision: Principles, Algorithms,
Applications, Learning. This is one of the major books in Computer Vision and
not just for its longevity, having now reached its Fifth Edition. It is actually a
splendid achievement to reach this status and it reflects not only on the tenacity
and commitment of its author, but also on the achievements of the book itself.
Computer Vision has shown awesome progress in its short history. This is part
due to technology: computers are much faster and memory is now much cheaper
than they were in the early days when Roy started his research. There have been
many achievements and many developments. All of this can affect the evolution
of a textbook. There have been excellent textbooks in the past, which were neither
continued nor maintained. That has been avoided here as the textbook has contin-
ued to mature with the field and its many developments.
We can look forward to a future where automated computer vision systems
will make our lives easier while enriching them too. There are already many
applications of Computer Vision in the food industry and robotic cars that will be
with us very soon. Then there are continuing advancements in medical image
analysis, where Computer Vision techniques can be used to aid in diagnosis and
therapy by automated means. Even accessing a mobile phone is considerably
more convenient when using a fingerprint and access by face recognition con-
tinues to improve. These have all come about due to advancements in computers,
Computer Vision, and applied artificial intelligence.
Adherents of Computer Vision will know it to be an exciting field indeed. It
manages to cover many aspects of technology from human vision to machine
learning requiring electronic hardware, computer implementations, and a lot of
computer software. Roy continues to cover these in excellent detail.
I remember the First Edition when it was first published in 1990 with its
unique and pragmatic blend of theory, implementation, and algorithms. I am
pleased to see that the Fifth Edition maintains this unique approach, much appre-
ciated by students in previous editions who wanted an accessible introduction to
Computer Vision. It has certainly increased in size with age, and that is often the
way with books. It is most certainly the way with Computer Vision since many of
its researchers continue to improve, refine, and develop new techniques.
A major change here is the inclusion of Deep Learning. Indeed, this has been
a major change in the field of Computer Vision and Pattern Recognition. One
implication of the increase in computing power and the reduction of memory cost
is that techniques can become considerably more complex, and that complexity
lends itself to application in the analysis of “big data.” One cannot ignore the per-
formance of deep learning and convolutional neural networks: one only has to
peruse the program of top international conferences to perceive their revolution-
ary effect on research direction. Naturally, it is early days but it is good to have

xxiii
xxiv Foreword

guidance as we have here. The nature of performance is always in question in any

system in artificial intelligence and part of the way to answer those questions is
to consider more deeply the architectures and their basis. That again is the func-
tion of a textbook for it is the distillation of research and practice in a ratiocinated
exposition. It is a brave move to include Deep Learning in this edition, but a nec-
essary one.
And what of Roy Davies himself? Following his DPhil in Solid State Physics
at Oxford, he later developed a new sensitive method in Nuclear Resonance
called “Davies-ENDOR” (Electron and Nuclear Double Resonance) which
avoided the blind spots of its predecessor “Mims-ENDOR.” In 1970 he was
appointed as a lecturer at Royal Holloway and a long series of publications in pat-
tern recognition and its applications led to the award of his Personal Chair, his
DSc and then the Distinguished Fellow of the British Machine Vision Association
(BMVA), 2005. He has served the BMVA in many ways, latterly editing its
Newsletter. Clearly the level of his work and his many contacts and papers have
contributed much to the material that is found herein.
I look forward to having this Fifth Edition sitting proudly in my shelf, repla-
cing the Fourth that will in turn pass to one of my student’s shelves. It will not
stop there for long for it is one of the textbooks I often turn to for the information
I need. Unlike the snapshots to be found on the Web, in a textbook I find it
placed in context and in sequence and with extension to other material. That is
the function of a textbook and it will be well served by this Fifth Edition.

Mark S. Nixon
University of Southampton, Southampton, United Kingdom
July 2017
Preface to the Fifth Edition
The first edition of this book came out in 1990, and was welcomed by many
researchers and practitioners. However, in the subsequent two decades the subject
moved on at a rapidly accelerating rate, and many topics that hardly deserved a
mention in the first edition had to be solidly incorporated into subsequent edi-
tions. For example, it seemed particularly important to bring in significant
amounts of new material on feature detection, mathematical morphology, texture
analysis, inspection, artificial neural networks, 3D vision, invariance, motion anal-
ysis, object tracking, and robust statistics. And in the fourth edition, cognizance
had to be taken of the widening range of applications of the subject: in particular,
two chapters had to be added on surveillance and in-vehicle vision systems. Since
then, the subject has not stood still. In fact, the past four or five years have seen
the onset of an explosive growth in research on deep neural networks, and the
practical achievements resulting from this have been little short of staggering. It
soon became abundantly clear that the fifth edition would have to reflect this radi-
cal departure—both in fundamental explanation and in practical coverage. Indeed,
it necessitated a new part in the book—Part 3, Machine Learning and Deep
Learning Networks—a heading which affirms that the new content reflects not
only “Deep Learning” (a huge enhancement over the older “Artificial Neural
Networks”) but also an approach to pattern recognition that is based on rigorous
probabilistic methodology.
All this is not achieved without presentation problems: for probabilistic
methodology can only be managed properly within a rather severe mathematical
environment. Too little maths, and the subject could be so watered down as to be
virtually content-free: too much maths, and many readers might not be able to
follow the explanations. Clearly, one should not protect readers from the (mathe-
matical) reality of the situation. Hence, Chapter 14 had to be written in such a
way as to demonstrate in full what type of methodology is involved, while provid-
ing paths that would take readers past some of the mathematical complexities—at
least, on first encounter. Once past the relatively taxing Chapter 14, Chapters 15
and 21 take the reader through two accounts consisting largely of case studies,
the former through a crucial development period (2012
2015) for deep learning
networks, and the latter through a similar period (2013
2016) during which deep
learning was targeted strongly at face detection and recognition, enabling remark-
able advances to be made. It should not go unnoticed that these additions have so
influenced the content of the book that the title had to be modified to reflect
them. Interestingly, the organization of the book was further modified by
collecting three applications chapters into the new Part 5, Putting Computer
Vision to Work.
It is worth remarking that, at this point in time, computer vision has attained a
level of maturity that has made it substantially more rigorous, reliable, generic,
and—in the light of the improved hardware facilities now available for its

xxv
xxvi Preface to the Fifth Edition

implementation (in particular, extremely powerful GPUs)—capable of real-time

performance. This means that workers are more than ever before using it in seri-
ous applications, and with fewer practical difficulties. It is intended that this edi-
tion of the book will reflect this radically new and exciting state of affairs at a
fundamental level.
A typical final-year undergraduate course on vision for Electronic Engineering
and Computer Science students might include much of the work of Chapters
1
13 and Chapter 16, plus a selection of sections from other chapters, according
to requirements. For MSc or PhD research students, a suitable lecture course
might go on to cover Parts 3 or 4 in depth, and several of the chapters in Part 5,
with many practical exercises being undertaken on image analysis systems. (The
importance of the appendix on robust statistics should not be underestimated once
one gets onto serious work, though this will probably be outside the restrictive
environment of an undergraduate syllabus.) Here much will depend on the
research programme being undertaken by each individual student. At this stage
the text may have to be used more as a handbook for research, and indeed, one of
the prime aims of the volume is to act as a handbook for the researcher and prac-
titioner in this important area.
As mentioned in the original Preface, this book leans heavily on experience I
have gained from working with postgraduate students: in particular, I would like
to express my gratitude to Mark Edmonds, Simon Barker, Daniel Celano, Darrel
Greenhill, Derek Charles, Mark Sugrue, and Georgios Mastorakis, all of whom
have in their own ways helped to shape my view of the subject. In addition, it is
a pleasure to recall very many rewarding discussions with my colleagues Barry
Cook, Zahid Hussain, Ian Hannah, Dev Patel, David Mason, Mark Bateman,
Tieying Lu, Adrian Johnstone, and Piers Plummer, the last two of whom were
particularly prolific in generating hardware systems for implementing my research
group’s vision algorithms. Next, I would like to record my thanks to my British
Machine Vision Association colleagues for many wide-ranging discussions on the
nature of the subject: in particular, I am hugely grateful to Majid Mirmehdi,
Adrian Clark, Neil Thacker, and Mark Nixon, who, over time, have strongly
influenced the development of the book and left a permanent mark on it. Next, I
would like to thank the anonymous reviewers for making insightful comments
and what have turned out to be extremely valuable suggestions. Finally, I am
indebted to Tim Pitts of Elsevier Science for his help and encouragement, without
which this fifth edition might never have been completed.
Supporting materials:
Elsevier’s website for the book contains programming and other resources to
help readers and students using this text. Please check the publisher’s website
for further information: https://www.elsevier.com/books-and-journals/book-
companion/9780128092842.

Roy Davies
Royal Holloway, University of London, United Kingdom
Preface to the First Edition
Over the past 30 years or so, machine vision has evolved into a mature subject
embracing many topics and applications: these range from automatic (robot)
assembly to automatic vehicle guidance, from automatic interpretation of docu-
ments to verification of signatures, and from analysis of remotely sensed images
to checking of fingerprints and human blood cells; currently, automated visual
inspection is undergoing very substantial growth, necessary improvements in
quality, safety, and cost-effectiveness being the stimulating factors. With so much
ongoing activity, it has become a difficult business for the professional to keep up
with the subject and with relevant methodologies: in particular, it is difficult for
them to distinguish accidental developments from genuine advances. It is the pur-
pose of this book to provide background in this area.
The book was shaped over a period of 10
12 years, through material I have
given on undergraduate and postgraduate courses at London University, and con-
tributions to various industrial courses and seminars. At the same time, my own
investigations coupled with experience gained while supervising PhD and post-
doctoral researchers helped to form the state of mind and knowledge that is now
set out here. Certainly it is true to say that if I had had this book 8, 6, 4, or even
2 years ago, it would have been of inestimable value to myself for solving practi-
cal problems in machine vision. It is therefore my hope that it will now be of use
to others in the same way. Of course, it has tended to follow an emphasis that is
my own—and in particular one view of one path towards solving automated
visual inspection and other problems associated with the application of vision in
industry. At the same time, although there is a specialism here, great care has
been taken to bring out general principles—including many applying throughout
the field of image analysis. The reader will note the universality of topics such as
noise suppression, edge detection, principles of illumination, feature recognition,
Bayes’ theory, and (nowadays) Hough transforms. However, the generalities lie
deeper than this. The book has aimed to make some general observations and
messages about the limitations, constraints, and tradeoffs to which vision algo-
rithms are subject. Thus there are themes about the effects of noise, occlusion,
distortion, and the need for built-in forms of robustness (as distinct from less suc-
cessful ad hoc varieties and those added on as an afterthought); there are also
themes about accuracy, systematic design, and the matching of algorithms and
architectures. Finally, there are the problems of setting up lighting schemes which
must be addressed in complete systems, yet which receive scant attention in most
books on image processing and analysis. These remarks will indicate that the text
is intended to be read at various levels—a factor that should make it of more last-
ing value than might initially be supposed from a quick perusal of the contents.

xxvii
xxviii Preface to the First Edition

Of course, writing a text such as this presents a great difficulty in that it is

necessary to be highly selective: space simply does not allow everything in a sub-
ject of this nature and maturity to be dealt with adequately between two covers.
One solution might be to dash rapidly through the whole area mentioning every-
thing that comes to mind, but leaving the reader unable to understand anything in
detail or to achieve anything having read the book. However, in a practical sub-
ject of this nature this seemed to me a rather worthless extreme. It is just possible
that the emphasis has now veered too much in the opposite direction, by coming
down to practicalities (detailed algorithms, details of lighting schemes, and so
on): individual readers will have to judge this for themselves. On the other hand,
an author has to be true to himself and my view is that it is better for a reader or
student to have mastered a coherent series of topics than to have a mishmash of
information that he is later unable to recall with any accuracy. This, then, is my
justification for presenting this particular material in this particular way and for
reluctantly omitting from detailed discussion such important topics as texture
analysis, relaxation methods, motion, and optical flow.
As for the organization of the material, I have tried to make the early part of
the book lead into the subject gently, giving enough detailed algorithms (espe-
cially in Chapter 2: Images and imaging operations and Chapter 6: Corner, inter-
est point, and invariant feature detection) to provide a sound feel for the
subject—including especially vital, and in their own way quite intricate, topics
such as connectedness in binary images. Hence Part I provides the lead-in,
although it is not always trivial material and indeed some of the latest research
ideas have been brought in (e.g., on thresholding techniques and edge detection).
Part II gives much of the meat of the book. Indeed, the (book) literature of the
subject currently has a significant gap in the area of intermediate-level vision;
while high-level vision (AI) topics have long caught the researcher’s imagination,
intermediate-level vision has its own difficulties which are currently being solved
with great success (note that the Hough transform, originally developed in 1962,
and by many thought to be a very specialist topic of rather esoteric interest, is
arguably only now coming into its own). Part II and the early chapters of Part III
aim to make this clear, while Part IV gives reasons why this particular transform
has become so useful. As a whole, Part III aims to demonstrate some of the prac-
tical applications of the basic work covered earlier in the book, and to discuss
some of the principles underlying implementation: it is here that chapters on
lighting and hardware systems will be found. As there is a limit to what can be
covered in the space available, there is a corresponding emphasis on the theory
underpinning practicalities. Probably this is a vital feature, since there are many
applications of vision both in industry and elsewhere, yet listing them and their
intricacies risks dwelling on interminable detail, which some might find insipid;
furthermore, detail has a tendency to date rather rapidly. Although the book could
not cover 3D vision in full (this topic would easily consume a whole volume in
its own right), a careful overview of this complex mathematical and highly impor-
tant subject seemed vital. It is therefore no accident that Chapter 16, The three-
Exploring the Variety of Random
Documents with Different Content
The sheriff wilted. He led Black Pepper to a cell, where Slim Briggs
was sitting despondently. When Slim saw the leader of the gang
being ushered in he shook his head in sympathy and groaned.
The door clanged.
"That fixes Black Pepper!" declared Bart Dawson, with satisfaction.
"Now come on back to the cabin and tell us all about it. I'm just about
dyin' of curiosity."
Dawson and the Hardy boys left the jail and had to fight their way
through the crowd that surged about the doorway. Questions were
hurled at them as they started up the street. Was it true that Black
Pepper had been captured at last? Who caught him? What was he in
for? How did it all happen, anyway?
"Tell ye all to-morrow," promised Bart Dawson, leading the boys on
up the hill. "I'm not very clear about it just yet, myself."
So the Hardy boys returned to Hank Shale's cabin on the hill, there
to tell the tale of their hazardous adventures and the successful
outcome of their search for the hidden gold.

CHAPTER XXIV
Bart Dawson Explains
Sitting beside the fire in Hank Shale's cabin, the Hardy boys told
their story. They were interrupted frequently by ejaculations of "Ye
don't say!" and, "Well I'll be switched!" from the two old miners, and
occasionally their father smiled in approval.
When they had finished, Bart Dawson slapped his knee.
"I never heard the beat of it!" he declared. "Ye went up on that there
mountain and got lost and attacked by wolves and fell down the shaft
and got held up by Black Pepper, and yet here ye are, and there's
the gold. I never heard the beat!"
"Neither did I!" affirmed Hank Shale slowly.
"There's the gold," laughed Frank, indicating the four sacks on the
table.
"Coulson will be tickled to death," declared Bart Dawson. "He never
expected either of us to see it again."
"There's a question we wanted to ask you," put in Frank. "Are you
sure there isn't anybody else but Mr. Coulson sharing the gold with
you?"
Fenton Hardy looked up startled. He could not imagine what this was
leading to. As for Bart Dawson, he looked blank.
"Not that I know of," he said.
"Are you quite sure?"
"I'm certain sure. There's Coulson's brother did own a share of it, but
he's dead, and there's Jadbury Wilson, my old pardner, but he's
dead, too. That leaves only me and Coulson."
"Are you sure Wilson is dead?"
"Last we heard of him he was. He went East, they say, and died out
there. I sure wish he could be here to-night. Poor old Jad—he
worked so hard for his share of that gold, and never got none of it."
"Jadbury Wilson isn't dead."
"What?" shouted Bart Dawson, leaping to his feet. "Say them words
again, lad! Do ye know for sure? Is Jad Wilson still livin'?"
"He's staying at our house in Bayport right now," declared Joe.
Fenton Hardy looked more surprised than ever. The case was taking
an angle he had never anticipated.
"If I'm sure Jad Wilson is still alive I'll be the happiest man in the
world!" declared Bart Dawson. "But how do ye know? Tell me about
him."
The Hardy boys thereupon told of their meeting with Jadbury Wilson
and of the story he had told of his gold-mining days in the West.
"So he thinks that you stole the gold from him and went away with it,"
concluded Frank.
"I don't blame him for thinkin' that!" said Dawson heartily. "I don't
blame him a bit! When I come back to Lucky Bottom I made it my
business to trace up my old pardners, but the only one I could find
was Coulson, and he told me his brother and Jad Wilson was dead."
"But what had happened to the gold?"
"I'm comin' to that. When the outlaws attacked our camp, the others
sent me out to hide the gold. And I hid it. I was just gettin' away
when a stray bullet hit me, and I'll be hanged if I didn't go clean off
my head. I didn't remember nothin'. I must have wandered away
from Lucky Bottom altogether, for when I come to myself I was miles
and miles away, up in northern Montana, and I couldn't remember
one thing of my life up to that time. It had been wiped clean out of my
memory. I had papers on me that had my name written on them, but
I didn't know where I had come from or nothin'."
"I have heard of such cases," said Fenton Hardy.
"I had clean lost my memory. I didn't even know I had ever been in
Lucky Bottom. Everythin' was blank up to the time I come to myself.
Then, a few months ago, a doctor told me he thought he could fix me
up, and I had an operation and—click! I remembered everythin'. I
remembered Lucky Bottom and our mine, and how I had hidden the
gold. It all come back to me. So I came back to Lucky Bottom and
dug up the gold again and tried to find my pardners, and Coulson
and I was ready to split it up between us, seein' we thought his
brother and Jad Wilson was dead, when the outlaws stole it on us.
So that's how it happened."
Frank and Joe had listened entranced.
"Why, that explains everything!" Frank declared. "It clears it all up.
We couldn't believe you had been crooked, although—" he stopped
in confusion.
"Although it looked mighty like it, eh?" finished Bart Dawson, with a
smile. "Well, I don't blame ye for bein' suspicious. And now, if you'll
take me back East with ye, I'll meet my old pardner, Jad Wilson,
again, and he'll get his share of the gold. It should be enough to
keep him in comfort for all the rest of his life."
"He's been having a pretty tough time," said Frank. "He'll welcome
it."
"And glad I'll be to see that he gets his share. As for you, Mr. Hardy,"
went on Dawson, turning to the detective. "I promised you a good
fee if ye'd take this case for me and I promised you a reward if the
gold was found. Two thousand dollars, I said, and two thousand
dollars you'll get as soon as I can get these nuggets and the gold
dust changed into real money."
"I won't take it all," said Fenton Hardy. "My boys did the real work."
"That's up to you. It was your case and you can do what you like with
the money. But," Dawson declared with emphasis, "if ye don't divvy
up with these two lads——!"
"Don't worry," laughed the detective. "I have no intention of letting
them work for nothing. I want to share the reward with them."
"Well, that's fine, then. And they get five hundred dollars for capturin'
Black Pepper—don't forget that." Bart Dawson turned to the Hardy
boys. "Ye ought to have a nice fat bank account when you go back
East."
"It begins to look that way," agreed Frank, with a pleased smile.
"You've done good work," said Fenton Hardy. "You've cleaned up
this case in record time and, to tell the truth, I hardly expected you
would be successful, because you were up against a mighty difficult
undertaking and you didn't have very much to work on. You deserve
everything that is coming to you in the way of reward. You've done
me credit."
"Hearing you say that is reward enough," said Frank, and Joe
nodded his head in agreement.
"Real detectives, both of 'em," said Hank Shale, puffing at his pipe.
The End
 MYSTERY STORIES FOR BOYS

By FRANKLIN W. DIXON
THE HARDY BOYS: THE TOWER TREASURE
THE HARDY BOYS: THE HOUSE ON THE CLIFF
THE HARDY BOYS: THE SECRET OF THE OLD MILL
THE HARDY BOYS: THE MISSING CHUMS
THE HARDY BOYS: HUNTING FOR HIDDEN GOLD

(Other Volumes in Preparation)

GROSSET AND DUNLAP, PUBLISHERS, NEW YORK
*** END OF THE PROJECT GUTENBERG EBOOK HUNTING FOR
HIDDEN GOLD ***

Updated editions will replace the previous one—the old editions will
be renamed.

Creating the works from print editions not protected by U.S.

copyright law means that no one owns a United States copyright in
these works, so the Foundation (and you!) can copy and distribute it
in the United States without permission and without paying copyright
royalties. Special rules, set forth in the General Terms of Use part of
this license, apply to copying and distributing Project Gutenberg™
electronic works to protect the PROJECT GUTENBERG™ concept
and trademark. Project Gutenberg is a registered trademark, and
may not be used if you charge for an eBook, except by following the
terms of the trademark license, including paying royalties for use of
the Project Gutenberg trademark. If you do not charge anything for
copies of this eBook, complying with the trademark license is very
easy. You may use this eBook for nearly any purpose such as
creation of derivative works, reports, performances and research.
Project Gutenberg eBooks may be modified and printed and given
away—you may do practically ANYTHING in the United States with
eBooks not protected by U.S. copyright law. Redistribution is subject
to the trademark license, especially commercial redistribution.

START: FULL LICENSE

THE FULL PROJECT GUTENBERG LICENSE
 PLEASE READ THIS BEFORE YOU DISTRIBUTE OR USE THIS WORK

To protect the Project Gutenberg™ mission of promoting the free

distribution of electronic works, by using or distributing this work (or
any other work associated in any way with the phrase “Project
Gutenberg”), you agree to comply with all the terms of the Full
Project Gutenberg™ License available with this file or online at
www.gutenberg.org/license.

Section 1. General Terms of Use and

Redistributing Project Gutenberg™
electronic works
1.A. By reading or using any part of this Project Gutenberg™
electronic work, you indicate that you have read, understand, agree
to and accept all the terms of this license and intellectual property
(trademark/copyright) agreement. If you do not agree to abide by all
the terms of this agreement, you must cease using and return or
destroy all copies of Project Gutenberg™ electronic works in your
possession. If you paid a fee for obtaining a copy of or access to a
Project Gutenberg™ electronic work and you do not agree to be
bound by the terms of this agreement, you may obtain a refund from
the person or entity to whom you paid the fee as set forth in
paragraph 1.E.8.

1.B. “Project Gutenberg” is a registered trademark. It may only be

used on or associated in any way with an electronic work by people
who agree to be bound by the terms of this agreement. There are a
few things that you can do with most Project Gutenberg™ electronic
works even without complying with the full terms of this agreement.
See paragraph 1.C below. There are a lot of things you can do with
Project Gutenberg™ electronic works if you follow the terms of this
agreement and help preserve free future access to Project
Gutenberg™ electronic works. See paragraph 1.E below.
1.C. The Project Gutenberg Literary Archive Foundation (“the
Foundation” or PGLAF), owns a compilation copyright in the
collection of Project Gutenberg™ electronic works. Nearly all the
individual works in the collection are in the public domain in the
United States. If an individual work is unprotected by copyright law in
the United States and you are located in the United States, we do
not claim a right to prevent you from copying, distributing,
performing, displaying or creating derivative works based on the
work as long as all references to Project Gutenberg are removed. Of
course, we hope that you will support the Project Gutenberg™
mission of promoting free access to electronic works by freely
sharing Project Gutenberg™ works in compliance with the terms of
this agreement for keeping the Project Gutenberg™ name
associated with the work. You can easily comply with the terms of
this agreement by keeping this work in the same format with its
attached full Project Gutenberg™ License when you share it without
charge with others.

1.D. The copyright laws of the place where you are located also
govern what you can do with this work. Copyright laws in most
countries are in a constant state of change. If you are outside the
United States, check the laws of your country in addition to the terms
of this agreement before downloading, copying, displaying,
performing, distributing or creating derivative works based on this
work or any other Project Gutenberg™ work. The Foundation makes
no representations concerning the copyright status of any work in
any country other than the United States.

1.E. Unless you have removed all references to Project Gutenberg:

1.E.1. The following sentence, with active links to, or other

immediate access to, the full Project Gutenberg™ License must
appear prominently whenever any copy of a Project Gutenberg™
work (any work on which the phrase “Project Gutenberg” appears, or
with which the phrase “Project Gutenberg” is associated) is
accessed, displayed, performed, viewed, copied or distributed:
 This eBook is for the use of anyone anywhere in the United
States and most other parts of the world at no cost and with
almost no restrictions whatsoever. You may copy it, give it away
or re-use it under the terms of the Project Gutenberg License
included with this eBook or online at www.gutenberg.org. If you
are not located in the United States, you will have to check the
laws of the country where you are located before using this
eBook.

1.E.2. If an individual Project Gutenberg™ electronic work is derived

from texts not protected by U.S. copyright law (does not contain a
notice indicating that it is posted with permission of the copyright
holder), the work can be copied and distributed to anyone in the
United States without paying any fees or charges. If you are
redistributing or providing access to a work with the phrase “Project
Gutenberg” associated with or appearing on the work, you must
comply either with the requirements of paragraphs 1.E.1 through
1.E.7 or obtain permission for the use of the work and the Project
Gutenberg™ trademark as set forth in paragraphs 1.E.8 or 1.E.9.

1.E.3. If an individual Project Gutenberg™ electronic work is posted

with the permission of the copyright holder, your use and distribution
must comply with both paragraphs 1.E.1 through 1.E.7 and any
additional terms imposed by the copyright holder. Additional terms
will be linked to the Project Gutenberg™ License for all works posted
with the permission of the copyright holder found at the beginning of
this work.

1.E.4. Do not unlink or detach or remove the full Project

Gutenberg™ License terms from this work, or any files containing a
part of this work or any other work associated with Project
Gutenberg™.

1.E.5. Do not copy, display, perform, distribute or redistribute this

electronic work, or any part of this electronic work, without
prominently displaying the sentence set forth in paragraph 1.E.1 with
active links or immediate access to the full terms of the Project
Gutenberg™ License.
1.E.6. You may convert to and distribute this work in any binary,
compressed, marked up, nonproprietary or proprietary form,
including any word processing or hypertext form. However, if you
provide access to or distribute copies of a Project Gutenberg™ work
in a format other than “Plain Vanilla ASCII” or other format used in
the official version posted on the official Project Gutenberg™ website
(www.gutenberg.org), you must, at no additional cost, fee or expense
to the user, provide a copy, a means of exporting a copy, or a means
of obtaining a copy upon request, of the work in its original “Plain
Vanilla ASCII” or other form. Any alternate format must include the
full Project Gutenberg™ License as specified in paragraph 1.E.1.

1.E.7. Do not charge a fee for access to, viewing, displaying,

performing, copying or distributing any Project Gutenberg™ works
unless you comply with paragraph 1.E.8 or 1.E.9.

1.E.8. You may charge a reasonable fee for copies of or providing

access to or distributing Project Gutenberg™ electronic works
provided that:

• You pay a royalty fee of 20% of the gross profits you derive from
the use of Project Gutenberg™ works calculated using the
method you already use to calculate your applicable taxes. The
fee is owed to the owner of the Project Gutenberg™ trademark,
but he has agreed to donate royalties under this paragraph to
the Project Gutenberg Literary Archive Foundation. Royalty
payments must be paid within 60 days following each date on
which you prepare (or are legally required to prepare) your
periodic tax returns. Royalty payments should be clearly marked
as such and sent to the Project Gutenberg Literary Archive
Foundation at the address specified in Section 4, “Information
about donations to the Project Gutenberg Literary Archive
Foundation.”

• You provide a full refund of any money paid by a user who

notifies you in writing (or by e-mail) within 30 days of receipt that
s/he does not agree to the terms of the full Project Gutenberg™
License. You must require such a user to return or destroy all
 copies of the works possessed in a physical medium and
discontinue all use of and all access to other copies of Project
Gutenberg™ works.

• You provide, in accordance with paragraph 1.F.3, a full refund of

any money paid for a work or a replacement copy, if a defect in
the electronic work is discovered and reported to you within 90
days of receipt of the work.

• You comply with all other terms of this agreement for free
distribution of Project Gutenberg™ works.

1.E.9. If you wish to charge a fee or distribute a Project Gutenberg™

electronic work or group of works on different terms than are set
forth in this agreement, you must obtain permission in writing from
the Project Gutenberg Literary Archive Foundation, the manager of
the Project Gutenberg™ trademark. Contact the Foundation as set
forth in Section 3 below.

1.F.

1.F.1. Project Gutenberg volunteers and employees expend

considerable effort to identify, do copyright research on, transcribe
and proofread works not protected by U.S. copyright law in creating
the Project Gutenberg™ collection. Despite these efforts, Project
Gutenberg™ electronic works, and the medium on which they may
be stored, may contain “Defects,” such as, but not limited to,
incomplete, inaccurate or corrupt data, transcription errors, a
copyright or other intellectual property infringement, a defective or
damaged disk or other medium, a computer virus, or computer
codes that damage or cannot be read by your equipment.

1.F.2. LIMITED WARRANTY, DISCLAIMER OF DAMAGES - Except

for the “Right of Replacement or Refund” described in paragraph
1.F.3, the Project Gutenberg Literary Archive Foundation, the owner
of the Project Gutenberg™ trademark, and any other party
distributing a Project Gutenberg™ electronic work under this
agreement, disclaim all liability to you for damages, costs and
expenses, including legal fees. YOU AGREE THAT YOU HAVE NO
REMEDIES FOR NEGLIGENCE, STRICT LIABILITY, BREACH OF
WARRANTY OR BREACH OF CONTRACT EXCEPT THOSE
PROVIDED IN PARAGRAPH 1.F.3. YOU AGREE THAT THE
FOUNDATION, THE TRADEMARK OWNER, AND ANY
DISTRIBUTOR UNDER THIS AGREEMENT WILL NOT BE LIABLE
TO YOU FOR ACTUAL, DIRECT, INDIRECT, CONSEQUENTIAL,
PUNITIVE OR INCIDENTAL DAMAGES EVEN IF YOU GIVE
NOTICE OF THE POSSIBILITY OF SUCH DAMAGE.

1.F.3. LIMITED RIGHT OF REPLACEMENT OR REFUND - If you

discover a defect in this electronic work within 90 days of receiving it,
you can receive a refund of the money (if any) you paid for it by
sending a written explanation to the person you received the work
from. If you received the work on a physical medium, you must
return the medium with your written explanation. The person or entity
that provided you with the defective work may elect to provide a
replacement copy in lieu of a refund. If you received the work
electronically, the person or entity providing it to you may choose to
give you a second opportunity to receive the work electronically in
lieu of a refund. If the second copy is also defective, you may
demand a refund in writing without further opportunities to fix the
problem.

1.F.4. Except for the limited right of replacement or refund set forth in
paragraph 1.F.3, this work is provided to you ‘AS-IS’, WITH NO
OTHER WARRANTIES OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO WARRANTIES OF
MERCHANTABILITY OR FITNESS FOR ANY PURPOSE.

1.F.5. Some states do not allow disclaimers of certain implied

warranties or the exclusion or limitation of certain types of damages.
If any disclaimer or limitation set forth in this agreement violates the
law of the state applicable to this agreement, the agreement shall be
interpreted to make the maximum disclaimer or limitation permitted
by the applicable state law. The invalidity or unenforceability of any
provision of this agreement shall not void the remaining provisions.
1.F.6. INDEMNITY - You agree to indemnify and hold the
Foundation, the trademark owner, any agent or employee of the
Foundation, anyone providing copies of Project Gutenberg™
electronic works in accordance with this agreement, and any
volunteers associated with the production, promotion and distribution
of Project Gutenberg™ electronic works, harmless from all liability,
costs and expenses, including legal fees, that arise directly or
indirectly from any of the following which you do or cause to occur:
(a) distribution of this or any Project Gutenberg™ work, (b)
alteration, modification, or additions or deletions to any Project
Gutenberg™ work, and (c) any Defect you cause.

Section 2. Information about the Mission of

Project Gutenberg™
Project Gutenberg™ is synonymous with the free distribution of
electronic works in formats readable by the widest variety of
computers including obsolete, old, middle-aged and new computers.
It exists because of the efforts of hundreds of volunteers and
donations from people in all walks of life.

Volunteers and financial support to provide volunteers with the

assistance they need are critical to reaching Project Gutenberg™’s
goals and ensuring that the Project Gutenberg™ collection will
remain freely available for generations to come. In 2001, the Project
Gutenberg Literary Archive Foundation was created to provide a
secure and permanent future for Project Gutenberg™ and future
generations. To learn more about the Project Gutenberg Literary
Archive Foundation and how your efforts and donations can help,
see Sections 3 and 4 and the Foundation information page at
www.gutenberg.org.

Section 3. Information about the Project

Gutenberg Literary Archive Foundation
The Project Gutenberg Literary Archive Foundation is a non-profit
501(c)(3) educational corporation organized under the laws of the
state of Mississippi and granted tax exempt status by the Internal
Revenue Service. The Foundation’s EIN or federal tax identification
number is 64-6221541. Contributions to the Project Gutenberg
Literary Archive Foundation are tax deductible to the full extent
permitted by U.S. federal laws and your state’s laws.

The Foundation’s business office is located at 809 North 1500 West,

Salt Lake City, UT 84116, (801) 596-1887. Email contact links and up
to date contact information can be found at the Foundation’s website
and official page at www.gutenberg.org/contact

Section 4. Information about Donations to

the Project Gutenberg Literary Archive
Foundation
Project Gutenberg™ depends upon and cannot survive without
widespread public support and donations to carry out its mission of
increasing the number of public domain and licensed works that can
be freely distributed in machine-readable form accessible by the
widest array of equipment including outdated equipment. Many small
donations ($1 to $5,000) are particularly important to maintaining tax
exempt status with the IRS.

The Foundation is committed to complying with the laws regulating

charities and charitable donations in all 50 states of the United
States. Compliance requirements are not uniform and it takes a
considerable effort, much paperwork and many fees to meet and
keep up with these requirements. We do not solicit donations in
locations where we have not received written confirmation of
compliance. To SEND DONATIONS or determine the status of
compliance for any particular state visit www.gutenberg.org/donate.

While we cannot and do not solicit contributions from states where

we have not met the solicitation requirements, we know of no
prohibition against accepting unsolicited donations from donors in
such states who approach us with offers to donate.

International donations are gratefully accepted, but we cannot make

any statements concerning tax treatment of donations received from
outside the United States. U.S. laws alone swamp our small staff.

Please check the Project Gutenberg web pages for current donation
methods and addresses. Donations are accepted in a number of
other ways including checks, online payments and credit card
donations. To donate, please visit: www.gutenberg.org/donate.

Section 5. General Information About Project

Gutenberg™ electronic works
Professor Michael S. Hart was the originator of the Project
Gutenberg™ concept of a library of electronic works that could be
freely shared with anyone. For forty years, he produced and
distributed Project Gutenberg™ eBooks with only a loose network of
volunteer support.

Project Gutenberg™ eBooks are often created from several printed

editions, all of which are confirmed as not protected by copyright in
the U.S. unless a copyright notice is included. Thus, we do not
necessarily keep eBooks in compliance with any particular paper
edition.

Most people start at our website which has the main PG search
facility: www.gutenberg.org.

This website includes information about Project Gutenberg™,

including how to make donations to the Project Gutenberg Literary
Archive Foundation, how to help produce our new eBooks, and how
to subscribe to our email newsletter to hear about new eBooks.
Welcome to our website – the ideal destination for book lovers and
knowledge seekers. With a mission to inspire endlessly, we offer a
vast collection of books, ranging from classic literary works to
specialized publications, self-development books, and children's
literature. Each book is a new journey of discovery, expanding
knowledge and enriching the soul of the reade

Our website is not just a platform for buying books, but a bridge
connecting readers to the timeless values of culture and wisdom. With
an elegant, user-friendly interface and an intelligent search system,
we are committed to providing a quick and convenient shopping
experience. Additionally, our special promotions and home delivery
services ensure that you save time and fully enjoy the joy of reading.

Let us accompany you on the journey of exploring knowledge and

personal growth!

textbookfull.com