The second edition of this successful machine vision textbook is completely revised and expanded to reflect the developments in recent years in the fields of image acquisition, machine vision algorithms and application, including, but not limited to the discussion of new cameras and image acquisition interfaces, 3D sensors and technologies, 3D object recognition and 3D image reconstruction. All examples are based on the new version of the machine vision software HALCON 13 of which the reader can download a free test version from the authors' company's homepage.