Across three volumes, the Handbook of Image Processing and Computer Vision presents a comprehensive review of the full range of topics that comprise the field of computer vision, from the acquisition of signals and formation of images, to learning techniques for scene understanding. The authoritative insights presented within cover all aspects of the sensory subsystem required by an intelligent system to perceive the environment and act autonomously. Volume 1 (From Energy to Image) examines the formation, properties, and enhancement of a digital image.