This comprehensive book series embraces state-of-the-art expository works and advanced research monographs on any aspect of this interdisciplinary field.Topics covered by the series fall in the following four main categories:• Imaging Systems and Image Processing • Computer Vision and Image Understanding • Visualization •Applications of Imaging TechnologiesOnly monographs or multi-authored books that have a distinct subject area, that is where each chapter has been invited in order to fulfill this purpose, will be considered for the series. Volume 41 For further volumes: www.springer.com/series/5754 Luc Florack r Remco Duits r Geurt Jongbloed r Marie-Colette van Lieshout r Laurie Davies Editors