光学透明激光驱动微型机器人的深度估计

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI:10.1109/IROS.2017.8206136

M. Grammatikopoulou, Lin Zhang, Guang-Zhong Yang

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引用次数: 3

摘要

六自由度位姿反馈是微型机器人闭环控制技术发展的基础。本文提出了两种基于图像清晰度测量和基于模型跟踪的光学镊子(OT)装置内透明微型机器人深度估计方法。使用基于模型的在线模板匹配来估计物体的x-y位置和三维方向。通过与地面真实情况的比较，验证了所提出的深度估计方法的有效性。

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Depth estimation of optically transparent laser-driven microrobots

Six degree-of-freedom (DoF) pose feedback is essential for the development of closed-loop control techniques for microrobotics. This paper presents two methods for depth estimation of transparent microrobots inside an Optical Tweezers (OT) setup using image sharpness measurements and model-based tracking. The x-y position and the 3D orientation of the object are estimated using online model-based template matching. The proposed depth estimation methodologies are validated experimentally by comparing the results with the ground truth.

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来源期刊

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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