This book provides a detailed background to machine vision, a subject that has evolved to embrace a diverse range of topics. With an emphasis on the theory underpinning practicalities, the book covers the area of image processing, image analysis and machine/computer vision, including automated visual inspection. The second edition incorporates many recent advances in the theory and practice of machine vision, including 3-D interpretation, invariants, camera calibration, artificial neural networks, x-ray inspection and foreign object detection, mathematical morphology, robust statistics, and an updated and very extensive list of references.