In this book, the mathematical background of the presented algorithms is mostlyomitted for the ease of reading, but for theoretically minded readers detailedderivations and justifications are given in the form of Problems in each chapter;their Solutions are given at the end of the volume. Also, historical notes and relatedreferences are discussed in the Supplemental Note at the end of each chapter. In thissense, this book can also serve as a theoretical reference of computer visionresearch. To help readers implement the algorithms in this book, sample codes oftypical procedures are placed on the publisher’s Web page.