More mathematicians have been taking part in the development of digital image processing as a science and the contributions are reflected in the increasingly important role modeling has played solving complex problems. This book is mostly concerned with energy-based models. Most of these models come from industrial projects in which the author was involved in robot vision and radiography: tracking 3D lines, radiographic image processing, 3D reconstruction and tomography, matching, deformation learning. Numerous graphical illustrations accompany the text.