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3D image reconstruction and application for micro-manipulation systems

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2 Author(s)
Han-Pang Huang ; Dept. of Mech. Eng., Nat. Taiwan Univ., Taiwan ; Fu-Jen Hsiao

In this paper, a microscopic 3D image is reconstructed for a micro-manipulation system. The 3D image reconstruction is based on a binocular stereo vision system. We propose a new method called "support value" to solve correspondence problems. Geometric constraints are added to reduce the ambiguities in stereo matching. Left/right consistency check is used to increase the confidence for matching results. Post-processing helps remove the outliers and make original dense disparity map smooth and reliable. The three-dimensional characteristics can be reconstructed by perspective projection. Finally, the 3D image reconstruction algorithm is successfully applied to a micro manipulation system for cell image reconstruction by a simpler and more friendly way.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

28 Sept.-2 Oct. 2004

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