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Estimation of depth information for micromanipulation based on the high-spatial frequency energy parameter Eh

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4 Author(s)
Zeng Ming ; Inst. of Robotics & Autom. Inf. Syst., Nankai Univ., Tianjin, China ; Zhang Jian-Xun ; Chen Shao-jie ; Wang Xiang-Hui

Recovery of depth information plays a key role in the micromanipulation robot system for performing micron or sub-micron orientation and measurement tasks. Based on the model of defocused optical system and combined with characteristics of frequency response curves of defocus optical transfer function (OTF), a new method of estimating the depth information for micro-manipulation is proposed. The depth information can be calculated by using the depth equation derived from a sequence of calibration images when acquiring the energy parameter of the micromanipulator in the certain position. We experiment with the choice of the high-pass cut-off frequency in order to identify the optimum filter for the specific micromanipulation tool. Experimental results show that the method is efficient, robust, and useful in practical applications.

Published in:

Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th  (Volume:3 )

Date of Conference:

6-9 Dec. 2004